轮式移动机器人移动性能研究及样机设计开发
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摘要
轮式移动机器人(WMR, Wheeled Mobile Robot)机械系统的研究涉及到运动学、动力学机构学等相关学科,是移动机器人精确控制的基础；既定设计用途的移动机器人总是建立在具体机械结构之上,其移动性能直接影响到机器人性能表现和功能发挥。本论文主要围绕轮式移动机器人移动性能进行研究,并设计开发了四轮差速转向构型和三轮前轮操舵驱动构型移动机器人样机。
(1)利用移动机器人中常用车轮在轮面方向和轴线方向的速度受限方程,建立由多个车轮驱动和支撑的移动机器人速度堆积方程组；通过对堆积方程组的分析,归纳影响移动机器人移动能力的约束条件；从堆积方程组中提取的偏心转向轮速度方程证明了偏心转向轮作为自由轮时,其数量的增加并不会影响移动机器人的移动能力；从堆积方程组中提取的速度正解和逆解方程,表明了机器人运动状态量和车轮运动状态量之间的关系。
(2)在对两种典型构型移动机器人运动学分析基础上,开发了两种构型的物理样机：差速转向构型样机XAUT. AGV100和操舵转向构型样机XAUT. AGV5000,主要针对转向原理、设计方案、驱动系统开发、控制和导航系统进行了研究。对于四轮差速转向构型,针对常用的自由轮缓冲系统提供了改进设计方法；在建立移动机器人动力学模型上,对移动机器人的驱动系统进行了开发；针对具体构型样机,导出了航位推算公式,获得了运动控制量算法。
(3)一般路径曲线在过渡段连接点位置几何参数不连续,需要移动机器人驱动电机速度和转向电机位置实现跳变,受限于电机动力学性能,这种路径无法可靠地跟踪,从而影响了机器人的移动性能。论文第五章在笛卡尔坐标系中建立了一种连续曲率曲线,保证了机器人驱动电机和转向电机在这种路径连接位置处速度能够连续变化,从动力学方面保证了对电机的可控性。
(4)移动机器人运行在实际路面上,车轮—路面接触因素决定的横滑因素对机器人的运动性能有很大影响。论文第六章对三轮式前轮操舵构型移动机器人的横滑特性进行了研究,在对移动机器人稳态圆运动建立动力学模型基础上,通过实验平台测量得到动力学模型求解所需的机器人运动参数,最后利用牛顿—拉夫森方法对动力学方程组进行了迭代求解,得到了实验样机在一定实验条件下的横滑刚度参数。论文提供的横滑刚度测量方法对移动机器人相关研究具有参考价值。
(5)移动机器人运动中会受到横向冲击影响,如冲击力、横向风力、或者路面随机突起。论文在对移动机器人横滑特性研究基础上,针对三轮式前轮操舵构型移动机器人直线运动中的方向稳定性问题进行了研究,通过对机器人平面运动微分方程的求解和分析,得到了机器人直线运动的方向稳定性条件。根据该条件,对所开发样机XAUT. AGV5000的方向稳定性进行了校核,并通过实验进行了验证。
论文中所讨论的运动学和动力学方法在所开发的样机设计中已得到体现,针对移动性能和路径跟随性能的研究和实验已通过所开发的样机得到验证,目前所开发的两个样机已分别投入到工程应用和科研教学中,为轮式移动机器人的应用和相关技术研究提供了可靠基础。
The mechanical system of wheeled mobile robot(WMR) involving kinematics and kinetics is the foundation to control robot accurately. The purposes of designed mobile robot mostly depend on specific mechanical construction, whose mobility affects the performance and functions of the robot directly. The mobility of mobile robot is investigated thoroughly in this dissertation, and the prototypes of WMR with differential driving and front wheel steered driving configrations are designed and developed. The main contents are carried out as follows.
(1)Using velocity constraining equations along radial and axial directions, the velocity stacking equations of mobile robot with several wheels for driving and supporting are established. The affecting conditions are summarized according to the analysis of velocity stacking equations. Then the derived velocity equations of offset steering wheel come to a conclusion that the addition of offset steering wheel served as free wheel doesn't impact on the mobility of WMR. The inverse and forward solutions drawn from the velocity stacking equations present the relation between motion status value of WMR and that of wheels.
(2) Two types of physical prototypes, namely the XAUT.AGV100 of differential driving configuration and XAUT.AGV5000 of front wheel steered driving configration, are developed based on the kinematics analysis of two typical constructions of WMRs. The steering principle, design scheme, design method for the driving system, and the composition of the control and navigation system are mainly discussed. The improvement for conventional buffering system of free wheel is introduced for the differential driving configuration with four wheels. The driving system for the WMR is designed based on kinetics model. The dead reckoning equation and motion control algorithm are derived for the prototype.
(3) The incontinuity of geometric parameters of conjunction point between linear path and curved path needs a sudden change in velocity of driving motors and angular position of steering motors, this make it impossible for robot to follows the path accurately owing to the limitation of dynamic characteristics of motors. Consequently, the performances of WMR are affected. So a path with continuous curvature is deduced in section 5 in order to guarantee successive variation in velocity of driving and steering motors at the conjunction of different type paths, and the feasibility to control motors is promising.
(4) The contact factors between wheel and road surface have great influences over motion performances of WMR, when WMR moves on actual road. The sliding characteristics of front wheel steered driving configuration with three wheels WMR is studied in section 6. Resting on kinetics model with steady state circle motion, and the parameters of motion measured from experimental platform, the sliding stiffness parameters are obtained by iterative solution of the kinetics equations based on the Newton-Raphson numeric algorithm, which provides a reference to experimentally study on transverse sliding characteristics.
(5) The WMR is vulnerable to be affected by lateral impact as side impact force, wind force and stochastic hump on the road. Based on the study on lateral sliding characteristics of WMR, the orientation stability in linear motions is studied aiming at front wheel steered driving configuration with three wheels WMR. The conditions for orientation stability in linear motions are achieved from analysis of planar motion differential equations, which are testified and experimentally evaluated successfully on the XAUT.AGV5000.
The kinematics and kinetics discussed in the paper have been applied to the design and development of prototypes. The study on mobility and path tracing performances has been successfully demonstrated on the developed prototypes. At present, two prototypes have been successfully put into use in engineering applications and scientific teaching, which provides the solid basis for the application and associated technical study for WMRs.
(1)利用移动机器人中常用车轮在轮面方向和轴线方向的速度受限方程,建立由多个车轮驱动和支撑的移动机器人速度堆积方程组；通过对堆积方程组的分析,归纳影响移动机器人移动能力的约束条件；从堆积方程组中提取的偏心转向轮速度方程证明了偏心转向轮作为自由轮时,其数量的增加并不会影响移动机器人的移动能力；从堆积方程组中提取的速度正解和逆解方程,表明了机器人运动状态量和车轮运动状态量之间的关系。
(2)在对两种典型构型移动机器人运动学分析基础上,开发了两种构型的物理样机：差速转向构型样机XAUT. AGV100和操舵转向构型样机XAUT. AGV5000,主要针对转向原理、设计方案、驱动系统开发、控制和导航系统进行了研究。对于四轮差速转向构型,针对常用的自由轮缓冲系统提供了改进设计方法；在建立移动机器人动力学模型上,对移动机器人的驱动系统进行了开发；针对具体构型样机,导出了航位推算公式,获得了运动控制量算法。
(3)一般路径曲线在过渡段连接点位置几何参数不连续,需要移动机器人驱动电机速度和转向电机位置实现跳变,受限于电机动力学性能,这种路径无法可靠地跟踪,从而影响了机器人的移动性能。论文第五章在笛卡尔坐标系中建立了一种连续曲率曲线,保证了机器人驱动电机和转向电机在这种路径连接位置处速度能够连续变化,从动力学方面保证了对电机的可控性。
(4)移动机器人运行在实际路面上,车轮—路面接触因素决定的横滑因素对机器人的运动性能有很大影响。论文第六章对三轮式前轮操舵构型移动机器人的横滑特性进行了研究,在对移动机器人稳态圆运动建立动力学模型基础上,通过实验平台测量得到动力学模型求解所需的机器人运动参数,最后利用牛顿—拉夫森方法对动力学方程组进行了迭代求解,得到了实验样机在一定实验条件下的横滑刚度参数。论文提供的横滑刚度测量方法对移动机器人相关研究具有参考价值。
(5)移动机器人运动中会受到横向冲击影响,如冲击力、横向风力、或者路面随机突起。论文在对移动机器人横滑特性研究基础上,针对三轮式前轮操舵构型移动机器人直线运动中的方向稳定性问题进行了研究,通过对机器人平面运动微分方程的求解和分析,得到了机器人直线运动的方向稳定性条件。根据该条件,对所开发样机XAUT. AGV5000的方向稳定性进行了校核,并通过实验进行了验证。
论文中所讨论的运动学和动力学方法在所开发的样机设计中已得到体现,针对移动性能和路径跟随性能的研究和实验已通过所开发的样机得到验证,目前所开发的两个样机已分别投入到工程应用和科研教学中,为轮式移动机器人的应用和相关技术研究提供了可靠基础。
The mechanical system of wheeled mobile robot(WMR) involving kinematics and kinetics is the foundation to control robot accurately. The purposes of designed mobile robot mostly depend on specific mechanical construction, whose mobility affects the performance and functions of the robot directly. The mobility of mobile robot is investigated thoroughly in this dissertation, and the prototypes of WMR with differential driving and front wheel steered driving configrations are designed and developed. The main contents are carried out as follows.
(1)Using velocity constraining equations along radial and axial directions, the velocity stacking equations of mobile robot with several wheels for driving and supporting are established. The affecting conditions are summarized according to the analysis of velocity stacking equations. Then the derived velocity equations of offset steering wheel come to a conclusion that the addition of offset steering wheel served as free wheel doesn't impact on the mobility of WMR. The inverse and forward solutions drawn from the velocity stacking equations present the relation between motion status value of WMR and that of wheels.
(2) Two types of physical prototypes, namely the XAUT.AGV100 of differential driving configuration and XAUT.AGV5000 of front wheel steered driving configration, are developed based on the kinematics analysis of two typical constructions of WMRs. The steering principle, design scheme, design method for the driving system, and the composition of the control and navigation system are mainly discussed. The improvement for conventional buffering system of free wheel is introduced for the differential driving configuration with four wheels. The driving system for the WMR is designed based on kinetics model. The dead reckoning equation and motion control algorithm are derived for the prototype.
(3) The incontinuity of geometric parameters of conjunction point between linear path and curved path needs a sudden change in velocity of driving motors and angular position of steering motors, this make it impossible for robot to follows the path accurately owing to the limitation of dynamic characteristics of motors. Consequently, the performances of WMR are affected. So a path with continuous curvature is deduced in section 5 in order to guarantee successive variation in velocity of driving and steering motors at the conjunction of different type paths, and the feasibility to control motors is promising.
(4) The contact factors between wheel and road surface have great influences over motion performances of WMR, when WMR moves on actual road. The sliding characteristics of front wheel steered driving configuration with three wheels WMR is studied in section 6. Resting on kinetics model with steady state circle motion, and the parameters of motion measured from experimental platform, the sliding stiffness parameters are obtained by iterative solution of the kinetics equations based on the Newton-Raphson numeric algorithm, which provides a reference to experimentally study on transverse sliding characteristics.
(5) The WMR is vulnerable to be affected by lateral impact as side impact force, wind force and stochastic hump on the road. Based on the study on lateral sliding characteristics of WMR, the orientation stability in linear motions is studied aiming at front wheel steered driving configuration with three wheels WMR. The conditions for orientation stability in linear motions are achieved from analysis of planar motion differential equations, which are testified and experimentally evaluated successfully on the XAUT.AGV5000.
The kinematics and kinetics discussed in the paper have been applied to the design and development of prototypes. The study on mobility and path tracing performances has been successfully demonstrated on the developed prototypes. At present, two prototypes have been successfully put into use in engineering applications and scientific teaching, which provides the solid basis for the application and associated technical study for WMRs.
引文
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