A trajectory tracking control method for zero-radius cornering of a robot in a discrete system
A trajectory tracking and discrete system technology, applied in two-dimensional position/channel control, control/regulation system, non-electric variable control, etc., can solve problems such as not considering robot deviation, poor effect, trajectory tracking error, etc., to achieve Reduce real-time requirements, achieve precise control, and reduce the amount of calculation
Active Publication Date: 2022-06-28
NANJING UNIV OF SCI & TECH
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The motion control scheme usually uses the instantaneous center of rotation of the robot to establish the kinematics model of the robot, so that the robot can move continuously, but the model needs to know the position of the instantaneous center of rotation when cornering, and when the movement space is narrow or needs to complete the right angle Doesn't work well when trajectories
[0005] At the same time, the control algorithm should be stable and effective in the actual system, but most of the current motion control schemes do not consider the deviation brought by the discretization of the robot control system to the robot motion control, which leads to the control law obtained according to the continuous system. In practical applications, it will cause errors in trajectory tracking
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[0019] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0020] combine figure 1 , a trajectory tracking control method of a robot in a discrete system for zero-radius cornering, comprising the following steps:
[0021] Step 1. According to the relevant theorems of rigid body kinematics, the motion process of the robot is decomposed, and combined with the actual system structure of the robot, a robot motion model is established, as follows:
[0022] like figure 2 As shown, take the center position of the robot as the base point A, establish the robot follow-up right-hand coordinate system Axyz and the robot's own right-hand coordinate system AXYZ, and specify that the counterclockwise rotation direction is the positive direction, where v A represents the speed of the base point A, θ represents the angle between the speed of point A and the Ax axis, ω represents the angular velocity of the ...
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The invention discloses a trajectory tracking control method for a robot in a discrete system to turn with zero radius. The method is as follows: first, according to the relevant theorems of rigid body kinematics, decompose the motion process of the robot, and combine the actual system structure of the robot to establish the motion model of the robot, and according to the concept of trajectory tracking control, establish the error model in the motion process of the robot; Then, the control law of robot trajectory tracking control is established by using the idea of related control; then the robot motion model is discretized to obtain the discretized robot motion model, and the motion error model of the robot under the discrete system is calculated; finally, according to the discrete system The motion error model of the robot is used to optimize the control law of the robot trajectory tracking control for the discrete system, and the optimized trajectory tracking control quantity is obtained. The invention reduces the calculation amount of the motion control of the robot, and improves the efficiency and accuracy of the trajectory tracking control work of the robot.
Description
technical field [0001] The invention belongs to the technical field of mobile robot motion control, in particular to a trajectory tracking control method for a robot in a discrete system to bend with zero radius. Background technique [0002] With the rapid development of related technologies in the computer field in recent years, artificial intelligence has gradually become the focus of the world's attention. Among them, the field of robotics is becoming a new blue ocean and a key development direction because it can directly benefit the daily life of human beings. [0003] In the system design of mobile robots, most common mobile robots use a non-omnidirectional motion structure, and control the motion of the robot by means of differential speed. At this time, the robot usually uses the in-situ steering model for steering. Since it takes a long time for the robot to turn in place, this control method will greatly reduce the efficiency of the robot to perform tasks when the...
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IPC IPC(8): G05D1/02G05D1/00
Inventor 郭健惠玉卓李胜薛舒严
Owner NANJING UNIV OF SCI & TECH