Four-wheel cooperative control method for wheeled robot

Abstract

The invention discloses a four-wheel cooperative control method for a wheeled robot. The stability of movement of a wheeled robot can be kept. The method comprises the steps of under linear motion, determining virtual longitudinal resultant force added with virtual yawing moment required by the wheeled robot to track the expected longitudinal speed, distributing the virtual longitudinal resultantforce to each wheel, and further calculating driving moment of each wheel; judging whether the wheels slip or not, and controlling a non-slipping wheel by adopting the driving torque; for the slippingwheel, using a robust self-adaptive controller for controlling the rotating speed of the wheel, so that the slipping rate of the slipping wheel tracks a slipping rate threshold value; under the steering motion, calculating various forces by using a steering fuselage speed controller, optimally distributing the longitudinal force and the lateral force of each wheel by taking the minimum adhesion margin as a target, and converting the longitudinal force and the lateral force into expected rotating speeds and rotating angles of the wheels; inputting the expected rotating angle into a wheeled robot actuator to be controlled, and inputting the expected rotating speed into a robust self-adaptive rotating speed controller to obtain the driving torque of the wheels.

Description

technical field [0001] The invention belongs to the technical field of wheel-foot robots, and in particular relates to a four-wheel coordinated control method of a wheel-foot robot. Background technique [0002] With the continuous development of society, robots, as an important application tool in industry, civil and military, are one of the biggest research hotspots today, and have become one of the important criteria for judging the level of scientific and technological development in countries around the world. Repeated and tedious or dangerous and complicated tasks in human activities can be replaced by robots, which has had a profound impact on human society and promoted social progress. [0003] As a mobile robot with fast movement speed, heavy load and high stability, wheeled mobile robot is widely used in space exploration, logistics handling, national defense and other fields. In order to increase its flexibility in motion, mobile robots with wheel-foot compound m...

AI Technical Summary

Problems solved by technology

[0005] For a wheel-footed robot with four-wheel independent drive and independent steering (4WID-4WIS) with strong coupling of longitudinal and lateral motion, if the speed, torque or rotation angle of the four wheels are not coordinated, it is easy to cause the robot to become unstable.

Images