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A method and system for controlling the orientation angle of a non-standard connected trailer-type mobile robot

A technology of mobile robots and control methods, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve problems such as singularity and instability of structures, difficult control problems, etc., and achieves a technology that is suitable for application and promotion, improves accuracy, and has remarkable effects Effect

Active Publication Date: 2021-06-25
UNIV OF JINAN
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The inventors of the present disclosure found that there are relatively few researches on trailer-type mobile robots with non-standard connections. , structure singularity and instability during reverse motion, the problem of reverse motion control of a mobile robot with a towed robot is relatively difficult

Method used

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  • A method and system for controlling the orientation angle of a non-standard connected trailer-type mobile robot
  • A method and system for controlling the orientation angle of a non-standard connected trailer-type mobile robot
  • A method and system for controlling the orientation angle of a non-standard connected trailer-type mobile robot

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Comparison scheme
Effect test

Embodiment 1

[0055] Embodiment 1 of the present disclosure provides a non-standard connection trailer-type mobile robot direction angle control method. The trailer-type mobile robot described in this embodiment is composed of a traction robot and a non-standard connection trailer-type robot. Such as figure 1 shown.

[0056] The traction robot is driven by turning the front wheels to the rear wheels, and the front wheel steering angle of the traction robot is set to be The linear velocity of the rear wheel is v. define when When the front wheels turn to the left, when When the front wheels turn to the right; the trailer-type robot is connected to the front traction robot through the axle, and the wheelbase of the traction robot is set as L 1 , the connecting rod length of the towed robot is L t , the body length of the towed robot is L 2 . P i (x i ,y i )(i=1, 2) are the coordinates of the center point of the rear axis of the towed robot and the towed robot, which are used to d...

Embodiment 2

[0118] Embodiment 2 of the present disclosure provides a non-standard connected trailer-type mobile robot orientation angle control system, including a tractor robot and a trailer-type robot, and also includes:

[0119] The data acquisition module is configured to: collect the parameters of the traction robot and the towed robot in real time;

[0120] The control law building block is configured to: obtain the steering angle control law of the traction robot related to the current angle and the expected direction angle of the traction robot and the traction robot according to the obtained parameters of the traction robot and the traction robot;

[0121] The motion control module is configured to: pull the robot to move according to the set steering angle, and drag the towed robot to perform a smooth reverse movement according to the desired direction angle;

[0122] Wherein, the steering angle control law is specifically:

[0123]

[0124] Among them, γ 1 is the angle bet...

Embodiment 3

[0126] Embodiment 3 of the present disclosure provides a readable storage medium on which a program is stored. When the program is executed by a processor, the method for controlling the direction angle of a non-standard connected towed mobile robot as described in Embodiment 1 of the present disclosure is implemented. A step of.

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Abstract

The present disclosure provides a method and system for controlling the orientation angle of a non-standard connected trailer-type mobile robot. According to the obtained parameters of the trailer-type robot and the trailer-type robot, the current angle and the expected orientation angle between the trailer-type robot and the trailer-type robot are obtained. The relevant traction robot steering angle control law, the traction robot moves according to the set steering angle, and the dragging robot performs a smooth reverse movement according to the desired direction angle; this disclosure solves the direction tracking of the non-standard connection trailer mobile robot The control problem provides theoretical guidance for the inverse kinematics control of non-standard connected towed mobile robots. The beneficial effect is remarkable and it is suitable for application and promotion.

Description

technical field [0001] The present disclosure relates to the technical field of robot direction angle control, and in particular to a method and system for controlling the direction angle of a non-standard connected towed mobile robot. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art. [0003] The trailer-type mobile robot is composed of a tractor at the forefront and multiple passive trailers dragged by it. The tractor performs steering and driving functions, and the trailer follows the tractor. sports. On the one hand, the trailer-type mobile robot has the motion ability of the mobile robot, and on the other hand, it can expand other functions of the mobile robot. Trailer-type mobile robots have high application value. At present, the research objects of trailer-type mobile robots are mainly indoor service robots, such as cleaning robots, resc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/16
Inventor 程金赵钦君徐元王中华
Owner UNIV OF JINAN
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