基于CoDeSys的全向移动机器人控制系统设计
|
摘要
研究了全向移动机器人的运动控制问题,设计了一种基于CoDeSys的控制系统。首先,搭建了由两个全向轮和两个万向轮构成的对角驱动四轮全向移动机器人本体。然后,根据车体位置-航向偏差构建了Lyapunov函数,设计一种适应车体线速度的反馈控制律;根据逆运动学和牵引轮与航向轮速度约束对车体速度进行规划,解决车体因为进入奇异点区域而造成系统不稳定的问题,并使得跟踪期望轨迹时间最优。最后,在CoDeSys上位机上编写功能块,构建全局移动机器人运动控制系统,通过轨迹跟踪实验,验证控制算法的有效性。
In this paper, the motion control problem of an omnidirectional mobile robot is studied, and a control system based on CoDeSys is designed. Firstly, a diagonal four-wheel omnidirectional mobile robot is designed and manufactured, which consists of two omnidirectional wheels and two universal wheels. Then, based on the position-course errors, the Lyapunov function is constructed and the speed feedback control law for the car body line is intended to adapt to the velocity of the vehicle body. Planning of vehicle body velocity according to inverse kinematics and velocity constraints of traction wheel and heading wheel, solving the instability of the system caused by the vehicle body entering the singular point area, and tracking expectation trajectory timeis optimized. Finally, the function blocks are coded on the upper computer with CoDeSys, and the motion control system of the global mobile robot is constructed. The effectiveness of the control algorithm is checked by the trajectory tracking experiment.
In this paper, the motion control problem of an omnidirectional mobile robot is studied, and a control system based on CoDeSys is designed. Firstly, a diagonal four-wheel omnidirectional mobile robot is designed and manufactured, which consists of two omnidirectional wheels and two universal wheels. Then, based on the position-course errors, the Lyapunov function is constructed and the speed feedback control law for the car body line is intended to adapt to the velocity of the vehicle body. Planning of vehicle body velocity according to inverse kinematics and velocity constraints of traction wheel and heading wheel, solving the instability of the system caused by the vehicle body entering the singular point area, and tracking expectation trajectory timeis optimized. Finally, the function blocks are coded on the upper computer with CoDeSys, and the motion control system of the global mobile robot is constructed. The effectiveness of the control algorithm is checked by the trajectory tracking experiment.
引文
[1] 徐国华,谭民.移动机器人的发展现状及其趋势[J].机器人技术与应用,2001(3):7-14.
[2] 祖莉,王华坤.智能移动机器人运动控制系统及算法的设计[J].机器人技术与应用,2002(5):39-42.
[3] 曹其新.轮式自主移动机器人[M].上海:上海交通大学出版社,2012.
[4] 王慰军,杨桂林,张驰,等.四轮式全向移动机器人设计[J].中国工程机械学报,2016,14(4):327-331.
[5] KIM W, KIM D H, YI B J, et al. Kinematic modeling of mobile robots by transfer method of augmented generalized coordinates[C]//IEEE. Proceedings of IEEE International Conference on Robotics and Automation. Washington: IEEE, 2002:2413-2418.
[6] 张翮,熊蓉,褚健,等.一种全方位移动机器人的运动分析与控制实现[J].浙江大学学报(工学版),2004,38(12):1650-1653.
[7] JAMALI P, TABATABAEI S M, SOHRABI O, et al. Software based modeling, simulation and fuzzy control of a Mecanum wheeled mobile robot[C]// IEEE.Proceedings of the lst RSI/ISM International Conference on Robotics and Mechatronics. Tehran: IEEE, 2013:200-204.
[8] OFTADEH R, GHABCHELOO R, MATTILA J. A novel time optimal path following controller with bounded velocities for mobile robots with independently steerable wheels[C]//IEEE.Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. Chicago: IEEE, 2013:4845-4851.
[9] OFTADEH R, AREF M M, GHABCHELOO R, et al. Bounded-velocity motion control of four wheel steered mobile robots[C]//IEEE.Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Besancon: IEEE, 2013:255-260.
[10] OFTADEH R, GHABCHELOO R, MATTILA J. Time optimal path following with bounded velocities and accelerations for mobile robots with independently steerable wheels[C]//IEEE.Proceedings of the IEEE International Conference on Robotics and Automation. Hong Kong: IEEE, 2014:2925-2931.
[11] OFTADEH R, GHABCHELOO R, MATTILA J. A time-optimal bounded velocity path-following controller for generic Wheeled Mobile Robots[C]//IEEE.Proceedings of the IEEE International Conference on Robotics and Automation. Washington: IEEE, 2015:676-683.
[12] 刘桓.移动机器人底盘的设计与研究[J].机械工程师,2017(8):71-73.
[13] 王雪松.四驱轮式移动机器人运动控制系统研究与设计[D].上海:上海电机学院,2016.
[14] 刘冬,闵华松,杨杰.基于EtherCAT的机器人控制总线方案研究[J].计算机工程与设计,2013,34(4):1238-1243.
[15] 闫茂德,吴青云,贺昱曜.非完整移动机器人的自适应滑模轨迹跟踪控制[J].系统仿真学报,2007,19(3):579-581.
[2] 祖莉,王华坤.智能移动机器人运动控制系统及算法的设计[J].机器人技术与应用,2002(5):39-42.
[3] 曹其新.轮式自主移动机器人[M].上海:上海交通大学出版社,2012.
[4] 王慰军,杨桂林,张驰,等.四轮式全向移动机器人设计[J].中国工程机械学报,2016,14(4):327-331.
[5] KIM W, KIM D H, YI B J, et al. Kinematic modeling of mobile robots by transfer method of augmented generalized coordinates[C]//IEEE. Proceedings of IEEE International Conference on Robotics and Automation. Washington: IEEE, 2002:2413-2418.
[6] 张翮,熊蓉,褚健,等.一种全方位移动机器人的运动分析与控制实现[J].浙江大学学报(工学版),2004,38(12):1650-1653.
[7] JAMALI P, TABATABAEI S M, SOHRABI O, et al. Software based modeling, simulation and fuzzy control of a Mecanum wheeled mobile robot[C]// IEEE.Proceedings of the lst RSI/ISM International Conference on Robotics and Mechatronics. Tehran: IEEE, 2013:200-204.
[8] OFTADEH R, GHABCHELOO R, MATTILA J. A novel time optimal path following controller with bounded velocities for mobile robots with independently steerable wheels[C]//IEEE.Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. Chicago: IEEE, 2013:4845-4851.
[9] OFTADEH R, AREF M M, GHABCHELOO R, et al. Bounded-velocity motion control of four wheel steered mobile robots[C]//IEEE.Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Besancon: IEEE, 2013:255-260.
[10] OFTADEH R, GHABCHELOO R, MATTILA J. Time optimal path following with bounded velocities and accelerations for mobile robots with independently steerable wheels[C]//IEEE.Proceedings of the IEEE International Conference on Robotics and Automation. Hong Kong: IEEE, 2014:2925-2931.
[11] OFTADEH R, GHABCHELOO R, MATTILA J. A time-optimal bounded velocity path-following controller for generic Wheeled Mobile Robots[C]//IEEE.Proceedings of the IEEE International Conference on Robotics and Automation. Washington: IEEE, 2015:676-683.
[12] 刘桓.移动机器人底盘的设计与研究[J].机械工程师,2017(8):71-73.
[13] 王雪松.四驱轮式移动机器人运动控制系统研究与设计[D].上海:上海电机学院,2016.
[14] 刘冬,闵华松,杨杰.基于EtherCAT的机器人控制总线方案研究[J].计算机工程与设计,2013,34(4):1238-1243.
[15] 闫茂德,吴青云,贺昱曜.非完整移动机器人的自适应滑模轨迹跟踪控制[J].系统仿真学报,2007,19(3):579-581.