Wheel-Foot Robot Motion Control With Closed-Loop State Feedback
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Solution Overview
Problem
Robots experience poor task execution performance due to imprecise motion control and errors, necessitating precise control systems to ensure efficient and stable task execution.
Innovation Solution
A motion control system for wheel-foot composite robots that includes a motion planning module to determine tasks for the robot body, front leg mechanisms, and rear rollers based on target tasks and actual state information, with a state perception module to adjust planning, and a motion control module to execute these tasks using joint motors for precise closed-loop control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional motion control methods are used, then the robot structure can be simpler, but the task execution performance deteriorates due to imprecise motion control
Solution Approach 1:
The motion control system is segmented into three independent modules: motion planning module, motion control module, and state perception module. Each module has specific functions - the motion planning module determines motion tasks for robot body, front legs, and rear rollers; the motion control module controls whole-body motion; and the state perception module provides feedback. This segmentation improves task execution performance while managing system complexity through modular design.
Solution Approach 2:
The state perception module continuously monitors the actual state of the wheel-foot composite robot and sends feedback to the motion planning module. This closed-loop feedback mechanism enables the system to adjust motion planning based on actual state information, significantly improving task execution performance and motion precision.
2Manufacturing precision
If precise closed-loop control is implemented, then motion precision is improved, but the control system complexity increases
Solution Approach 1:
The control system is divided into distinct functional modules with clear interfaces. The motion planning module handles task decomposition, the motion control module executes precise control, and the state perception module provides monitoring. This segmentation achieves high motion precision while keeping each module's complexity manageable.
Solution Approach 2:
The system uses its own state perception capabilities to automatically adjust and optimize its motion control. The state perception module monitors actual motion states and feeds this information back to the motion planning module, enabling self-correcting precise control without external intervention.
3Stability of the object's composition
If whole-body motion control is used, then task execution stability is improved, but the computational requirements and system complexity increase
Solution Approach 1:
The system merges the control of the robot body, front leg mechanisms, and rear rollers into a unified whole-body motion control framework. The motion planning module coordinates all components simultaneously based on target tasks and actual state information, ensuring stable task execution through integrated control while managing complexity through the modular architecture.
Data Source
AI summary
The disclosure provides a motion control system of a robot and a robot, wherein the robot is a wheel-foot composite robot which comprises a robot body and a motion mechanism arranged on the robot body; the motion mechanism comprises two rear rollers and two front leg mechanisms; the system comprises a motion planning module configured to determine a first, second and third motion tasks based on the target task and the latest actual state information of the wheel-foot composite robot; the motion control module config to control the whole body motion of the wheel-foot composite robot based on the first, second and third motion tasks; the state perception module configured to determine actual state information of the wheel-foot composite robot, and sending the actual state information to the motion planning module, so that the motion planning module performs new motion planning based on the actual state information.