A four-wheel cooperative control method for a wheel-footed robot

Abstract

The invention discloses a four-wheel cooperative control method of a wheel-foot robot, which can maintain the stability of the wheel-foot robot movement. Under linear motion, determine the virtual longitudinal resultant force added with the virtual yaw moment required for the wheel-footed robot to track the desired longitudinal velocity, and distribute it to each wheel, and then calculate the driving torque of the wheel; to determine whether the wheel is slipping, for non-slipping wheels, use The driving torque is controlled; for the slipping wheel, the robust adaptive controller is used to control the wheel speed, so that the slip rate of the slipping wheel tracks the slip rate threshold; under the steering motion, the steering body speed controller is used to calculate each The longitudinal force and lateral force of each wheel are optimally distributed with the goal of minimizing the adhesion margin, and converted into the expected rotational speed and rotational angle of the wheel; the expected rotational angle is input into the wheel-footed robot actuator for control, and the expected rotational speed is input into the robust automatic The drive torque of the wheels is obtained by adapting the speed controller.

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.

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