Wheel type docking robot speed matching control system and method based on force feedback

Abstract

The invention belongs to the technical field of modular wheel type robot control, and provides a wheel type docking robot speed matching control system and method based on force feedback. The system comprises a control module, a wheel type vehicle body connected with the control module, and a vehicle-mounted docking module arranged on the wheel type vehicle body, wherein the vehicle-mounted docking module comprises an active docking sub-module and a passive docking sub-module respectively arranged at two ends of the wheel type vehicle body, the active docking sub-module comprises a fixing device and a rotating connecting rod connected with the fixing device, a force sensor is arranged on the rotating connecting rod, and the passive docking sub-module adopts a locking mechanism matched with the connecting rod. According to the system and method, through the vehicle-mounted docking module, the adaptability of the two modules to external impact and self communication time delay in the joint movement process is enhanced, the probability that a docking mechanism is fractured due to over-large stress is reduced, and the two modules have good speed matching performance in the cooperative movement process.

Description

technical field [0001] The disclosure belongs to the technical field of modular wheeled robot control, and in particular relates to a speed matching control system and method for a wheeled docking robot based on force feedback. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] For tasks such as supplementary supplies in the field, equipment delivery, and accompanying personnel, robots are required to have strong adaptability and autonomy. Due to the single structure and function of traditional robots, it is difficult to meet these requirements, so the concept of modular robots needs to be designed. Different connections between robot modules can form robot systems with different structures, which can adapt to different working environments and increase the adaptability of the system. At the same time, the idea of ​​modularization makes the...

AI Technical Summary

Problems solved by technology

[0006] In order to solve the above problems, the present disclosure proposes a wheeled docking robot speed matching control system and method based on force feedback, aiming at the problem of excessive force on the vehicle-mounted docking module caused by a sudden change in speed during the docking movement of a modular wheeled robot, An accurate, feasible, and high-real-time force feedback wheeled docking robot speed control system and method are provided

Images