轮腿复合式移动机器人越障分析与控制系统设计
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摘要
随着社会的发展,人们对于设备的依赖性越来越强。现代战争的快速部署和灾后的快速救援都对运输装备提出了更高的要求,要求运输装备对于非结构环境具备较高的灵活性和适应性,能够成功并快速的完成指定任务。本文结合实验室自拟课题“轮腿复合式移动机器人”,对机器人的越障能力和控制系统进行了研究,具体研究工作如下:
基于室外机器人行走机构功能分析和设计要求,设计了轮腿复合式移动机器人行走机构。机器人由车体和6套轮腿系统组成,轮腿系统采用模块化设计,拆装方便。轮腿系统与车体的机械和电气接口完全相同,可直接互换。根据机器人的功能要求,分析了机器人不同阶段对驱动电机的功率需求,选择了合适的驱动电机。
建立了机器人平面差速转向运动学,并建立了空间姿态运动学、水平路面行驶运动学和四轮行驶运动学模型,为轨迹跟踪、空间定位和越障规划提供了依据。对垂直障碍和壕沟等典型地形进行了越障动作规划,并用几何法和稳定性约束条件分析了机器人跨越典型障碍的能力,最后用ADAMS对越障规划进行了仿真验证,证明了越障动作规划的可行性。
建立了主从式控制系统,利用USB-CAN总线适配器实现了上下位机间的CAN通信;利用TMS320LF2407A DSP和EPM3128 CPLD设计了电机控制器,利用VHDL语言实现了CPLD对电机光电编码器信号的采集处理和与DSP间的SPI通信;完成了对行走驱动电机的速度伺服控制和对摆臂驱动电机的位置伺服控制。利用LMD18200设计了电机驱动器,为增加轮腿系统对车体支撑的可靠性,为摆臂驱动电机安装了制动器,并设计了继电器驱动板。
最后,完成了对机器人整机的调试和初步试运行,通过对垂直障碍、壕沟等典型障碍的越障实验,验证了机器人行走机构对复杂地形的灵活性,证明了前面越障规划的可行性和越障能力分析的正确性。
Along with the development of society,people have become increasingly rely on equipment.The quick deployment of modern warfare and rapid relief after disasters put forward higher request to transportation equipment.They asked transportation equipment have high flexibility and adaptability to the environment of complex structure of terrain,and can succeed, quickly complete given task.Combined with the”leg-wheeled mobile robot”project,the obstacle-climbing capability and the control system are introduced in this paper.Specific research work are as follows.
Based on the analysis of outdoor robots walk institutions function and design requirements,walking mechanism of the leg-wheeled mobile robot is designed.The robot composed by the body and six leg-wheeled systems. Leg-wheeled system use modular design and easy disassembly. The mechanical and electrical interface between leg-wheeled system and body is exactly the same and can interchange directly.According to the function requirements of robot,the motor power demand of the robot in different stages is analyzed and the appropriate driver motor is selected.
The kinematics model of plane,spatial kinematics posture and special kinematics posture are established.These provided the basis for the trajectory tracking and obstacle-climbing motion plannning. Obstacle-climbing motion is planned for the typical terrain of vertical obstacles and ditches.With the geometric method and stability constraints, the obstacle-climbing capability is analyzed.Finally,using the ADAMS,the obstacle-climbing motion planning is simulated and its feasibility is proved.
Masterslave control system is built.Using the USB-CAN Adapter,the CAN communication between up and down computer is achieved and the motor controller is designed with TMS320LF2407A DSP and EPM3128 CPLD. Using VHDL language, CPLD acquisition and processing signal of encoder and the SPI communication with DSP is realized.The speed servo control for drive motor and position servo controll for swing arm motor is achieved. Motor drive is designed with LMD18200. In order to increase the reliability of the wheel support,the brake is installed and its drive is designed.
Finally, the debugging and commissioning of the robot is completed. Through the obstacle-climbing experiment for vertical obstacles and ditches, the flexibility of walking mechanism,the feasibility of obstacle-climbing motion planning and the correctness of obstacle-climbing capability analysis is proved.
基于室外机器人行走机构功能分析和设计要求,设计了轮腿复合式移动机器人行走机构。机器人由车体和6套轮腿系统组成,轮腿系统采用模块化设计,拆装方便。轮腿系统与车体的机械和电气接口完全相同,可直接互换。根据机器人的功能要求,分析了机器人不同阶段对驱动电机的功率需求,选择了合适的驱动电机。
建立了机器人平面差速转向运动学,并建立了空间姿态运动学、水平路面行驶运动学和四轮行驶运动学模型,为轨迹跟踪、空间定位和越障规划提供了依据。对垂直障碍和壕沟等典型地形进行了越障动作规划,并用几何法和稳定性约束条件分析了机器人跨越典型障碍的能力,最后用ADAMS对越障规划进行了仿真验证,证明了越障动作规划的可行性。
建立了主从式控制系统,利用USB-CAN总线适配器实现了上下位机间的CAN通信;利用TMS320LF2407A DSP和EPM3128 CPLD设计了电机控制器,利用VHDL语言实现了CPLD对电机光电编码器信号的采集处理和与DSP间的SPI通信;完成了对行走驱动电机的速度伺服控制和对摆臂驱动电机的位置伺服控制。利用LMD18200设计了电机驱动器,为增加轮腿系统对车体支撑的可靠性,为摆臂驱动电机安装了制动器,并设计了继电器驱动板。
最后,完成了对机器人整机的调试和初步试运行,通过对垂直障碍、壕沟等典型障碍的越障实验,验证了机器人行走机构对复杂地形的灵活性,证明了前面越障规划的可行性和越障能力分析的正确性。
Along with the development of society,people have become increasingly rely on equipment.The quick deployment of modern warfare and rapid relief after disasters put forward higher request to transportation equipment.They asked transportation equipment have high flexibility and adaptability to the environment of complex structure of terrain,and can succeed, quickly complete given task.Combined with the”leg-wheeled mobile robot”project,the obstacle-climbing capability and the control system are introduced in this paper.Specific research work are as follows.
Based on the analysis of outdoor robots walk institutions function and design requirements,walking mechanism of the leg-wheeled mobile robot is designed.The robot composed by the body and six leg-wheeled systems. Leg-wheeled system use modular design and easy disassembly. The mechanical and electrical interface between leg-wheeled system and body is exactly the same and can interchange directly.According to the function requirements of robot,the motor power demand of the robot in different stages is analyzed and the appropriate driver motor is selected.
The kinematics model of plane,spatial kinematics posture and special kinematics posture are established.These provided the basis for the trajectory tracking and obstacle-climbing motion plannning. Obstacle-climbing motion is planned for the typical terrain of vertical obstacles and ditches.With the geometric method and stability constraints, the obstacle-climbing capability is analyzed.Finally,using the ADAMS,the obstacle-climbing motion planning is simulated and its feasibility is proved.
Masterslave control system is built.Using the USB-CAN Adapter,the CAN communication between up and down computer is achieved and the motor controller is designed with TMS320LF2407A DSP and EPM3128 CPLD. Using VHDL language, CPLD acquisition and processing signal of encoder and the SPI communication with DSP is realized.The speed servo control for drive motor and position servo controll for swing arm motor is achieved. Motor drive is designed with LMD18200. In order to increase the reliability of the wheel support,the brake is installed and its drive is designed.
Finally, the debugging and commissioning of the robot is completed. Through the obstacle-climbing experiment for vertical obstacles and ditches, the flexibility of walking mechanism,the feasibility of obstacle-climbing motion planning and the correctness of obstacle-climbing capability analysis is proved.
引文
1刘盾.六轮腿式移动机器人在非平整地面上的位姿分析、检测和控制.南京理工大学硕士学位论文.2007:1-5
2张诗军.野外移动机器人总体功能的概念性设计及计算机虚拟仿真.武汉理工大学硕士学位论文.2003:1-3
3万宏.非平整地面六轮腿式自主移动机器人越障特性分析与研究.南京理工大学硕士学位论文.2006:1-5
4来恩华.军车和货车在战场上的重要作用.现代兵器.1993,3:14
5朱泽生,孙玲.战场物资快速运输的指挥控制.指挥控制与仿真.2006,28(4):62-64
6安亮.从伊拉克战争看运输装备的发展趋向.国防技术基础.2005,1:37-38
7张利.从抗震救灾看工程机械产品的抢险功能.工程机械.2008,39:68-70
8王庆云.关于交通运输在抗震救灾中作用的思考.综合评述.2008,6:4-8
9乔凤斌,杨汝清.六轮移动机器人爬楼梯能力分析.机器人.2006,26(4):301-305
10康玉辉.基于虚拟样机技术的六轮腿移动机器人研究.南京理工大学硕士学位论文.2007:1-25
11徐贺.可重构多机动模式移动机器人及其关键技术研究.哈尔滨工业大学博士学位论文.2006:2-3
12何峰.六轮腿移动机器人运动分析及控制系统的研究.南京理工大学硕士学位论文.2005: 1-3
13 Markus Eich, Felix Grimminger, Frank Kirchner.Proprioceptive Control of a Hybrid Legged-Wheeled Robot. Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics,Bangkok, Thailand, February 21 - 26, 2009:774-775
14 Roland Siegwart, Pierre Lamon, Thomas Estier, RalphPiguet.Innovative Design for Wheeled Locomotion in Rough Terrain. Robotics and Autonomous Systems.2002,40:151-153
15 Karl Iagnemma, Adam Rzepniewski, Steven Dubowsky.Control of Robotic Vehicles with Actively Articulated Suspensions in Rough Terrain. Autonomous Robots. 2003,14:5-16
16 Karl Iagnemma, Adam Rzepniewski, Steven Dubowsky, Paolo Pirjanian, Terrence Huntsberger, Paul Schenker. Mobile Robot Kinematic Reconfigurability for Rough-terrain. Autonomous Robots.2000,12:15-22
17 Kenji Hashimoto, Takuya Hosobata, Hun-ok Lim, Atsuo Takanishi.Realization byBiped Leg-wheeled Robot of Biped Walking and Wheel-driven Locomotion, Proceedings of the 2005 IEEE International Conference on Robotics and Automation Barcelona, Spain, April 2005:2970-2971
18 Osamu Matsumoto, Shuuji Kajita, Kiyoshi Komoriya. Flexible Locomotion Control of a Self-contained Biped Leg-wheeled System,Proceedings of the 2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems ERFL, Lausanne, Switzerland, October 2002:2599-2601
19张湘,张立杰,潘存云等.基于球齿轮的新型轮腿复合式移动平台设计研究.国防科技大学学报.2008,30(4):98-102
20方岗.六轮腿自主移动机器人结构设计和模糊控制技术研究.南京理工大学硕士学位论文. 2006:12-14
21田娜,丁希仑,戴建生等.一种新型的变结构轮/腿式探测车机构设计与分析.机械设计与研究.2004,1:268-270
22尚伟燕,李舜酩,邱法聚.新型四轮腿式月球车轮腿结构设计及分析.武汉理工大学学报.2008,32(5):823-824
23王争.井下探测机器人控制系统研制及其运动性能分析.哈尔滨工业大学硕士学位论文.2007:4-30
24常勇,马书根,王洪光等.轮式移动机器人运动学建模方法.机械工程学报.2010,46(5):30-31
25 Muir P F, Neuman C P. Kinematic Modeling of Wheeled Mobile Robots. Journal of Robotic Systems.1987,4(2):285-296
26 SatoM, Jojo H, Matsuki H, et al. The Operation of a Magnetic Micromachine for Hyperthermia and Its Exothermic Characteristic.IEEE Transactions on Magnetics, 2002, 38 (51):3362 - 3364
27江水明.六轮自主移动机器人动力学建模与控制的研究.南京理工大学硕士学位论文.2005:10-13
28 Karl Iagnemma, Steven Dubowsky. Mobile Robot Rough-Terrain Control (RTC) For Planetary Exploration. Proceedings of 2000 ASME IDETC/CIE:26th Biennial echanisms and Robotics Conference,September 10-13,2000, Baltimore, Maryland:1-8
29 Gao Shuang, Norbert C. Cheung, K. W. Eric Cheng, Dong Lei, Liao Xiaozhong. Skid Steering in 4-Wheel-Drive Electric Vehicle.EPDS.2007: 1548-1551
30 Benjamin Shamah. Experimental Comparison of Skid Steering Vs.Explicit Steering for a Wheeled Mobile Robot. Submitted in Partial Fulfillment of the Requirements for the Degree of Master of Science in the Field of Robotics. March 1999:21-22
31 Giulio Reina, Lauro Ojeda, Annalisa Milella, Johann Borenstein.Wheel Slippage andSinkage Detection for Planetary Rovers. IEEE/ASME Transactions on Mechatronics, Vol. 11, NO. 2, APRIL 2006:185-188
32张国君,杨世文.四轮车辆滑移转向结构条件分析.拖拉机与农用运输.2007,34(4):22-24
33 Oscar Chuy Jr., Emmanuel G. Collins Jr., Wei Yu, Camilo Ordonez.Power Modeling of a Skid Steered Wheeled Robotic Ground Vehicle. 2009 IEEE International Conference on Robotics and Automation Kobe International Conference Center Kobe, Japan, May 12-17, 2009:4119-4122
34 J.-C.Fauroux, P.Vaslin.Modeling,Experimenting,and Improing Skid Steering on a 6×6 All-Terrain Mobile Platform.Journal of Field Robotics 2010,27(2):108-110
35 Hyun Do Choi, Chun Kyu Woo, Soohyun Kim, Yoon Keun Kwak, Sukjune Yoon. Independent Traction Control for Uneven Terrain Using Stick-slip Phenomenon: Application to a Stair Climbing Robot. Auton Robot .2007,23:8-16
36李斌,刘金国,谈大龙.可重构模块机器人倾翻稳定性研究.机器人. 2005,27(3):243-244
37 Gustavo Freitas, Gabriel Gleizer, Fernando Lizarralde, Liu Hsu, Ney Robinson Salvi dos Reis.Kinematic Reconfigurability Control for an Environmental Mobile Robot Operating in the Amazon Rain Forest. Journal of Field Robotics 2010,27(2) :198-201
38石侃.四杆机构与轮式复合机器人的实验研究.北京交通大学硕士学位论文.2007,12:38-40
39 Zah Siddique, David WRosen.Avirt Ual Prototypinga Proachto Produet Disassembly Reasoning. Computer Aided Design.1997(12):29-35
40 Gat E, Desai R, Ivlev R, Lxh J, Miller D P.Behavior Control for Robotice Exploration of Planetary Surfaces.IEEE Transaction on Roboties and Automation. 1994.10(4).490-496
41王东翠.自动对位系统运动控制器设计.哈尔滨工业大学硕士学位论文.2008:2-10
42褚新惠.基于DSP的无刷直流电机控制器的研究与实现.东华大学硕士学位论文.2006:52-53
43 Wise,W.L. PID/CNC/DSP-controlled High-performance Submicron Positioning Systems.Proc Annu SymP Ineremental Motion Control Syst Deviees.1991:270-271
44廖永忠.位置伺服控制系统的建模与仿真.湖南第一师范学报.2009,9(1):163-164
45陈维山,赵杰.机电系统计算机控制.哈尔滨工业大学出版社,1999:50-52
2张诗军.野外移动机器人总体功能的概念性设计及计算机虚拟仿真.武汉理工大学硕士学位论文.2003:1-3
3万宏.非平整地面六轮腿式自主移动机器人越障特性分析与研究.南京理工大学硕士学位论文.2006:1-5
4来恩华.军车和货车在战场上的重要作用.现代兵器.1993,3:14
5朱泽生,孙玲.战场物资快速运输的指挥控制.指挥控制与仿真.2006,28(4):62-64
6安亮.从伊拉克战争看运输装备的发展趋向.国防技术基础.2005,1:37-38
7张利.从抗震救灾看工程机械产品的抢险功能.工程机械.2008,39:68-70
8王庆云.关于交通运输在抗震救灾中作用的思考.综合评述.2008,6:4-8
9乔凤斌,杨汝清.六轮移动机器人爬楼梯能力分析.机器人.2006,26(4):301-305
10康玉辉.基于虚拟样机技术的六轮腿移动机器人研究.南京理工大学硕士学位论文.2007:1-25
11徐贺.可重构多机动模式移动机器人及其关键技术研究.哈尔滨工业大学博士学位论文.2006:2-3
12何峰.六轮腿移动机器人运动分析及控制系统的研究.南京理工大学硕士学位论文.2005: 1-3
13 Markus Eich, Felix Grimminger, Frank Kirchner.Proprioceptive Control of a Hybrid Legged-Wheeled Robot. Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics,Bangkok, Thailand, February 21 - 26, 2009:774-775
14 Roland Siegwart, Pierre Lamon, Thomas Estier, RalphPiguet.Innovative Design for Wheeled Locomotion in Rough Terrain. Robotics and Autonomous Systems.2002,40:151-153
15 Karl Iagnemma, Adam Rzepniewski, Steven Dubowsky.Control of Robotic Vehicles with Actively Articulated Suspensions in Rough Terrain. Autonomous Robots. 2003,14:5-16
16 Karl Iagnemma, Adam Rzepniewski, Steven Dubowsky, Paolo Pirjanian, Terrence Huntsberger, Paul Schenker. Mobile Robot Kinematic Reconfigurability for Rough-terrain. Autonomous Robots.2000,12:15-22
17 Kenji Hashimoto, Takuya Hosobata, Hun-ok Lim, Atsuo Takanishi.Realization byBiped Leg-wheeled Robot of Biped Walking and Wheel-driven Locomotion, Proceedings of the 2005 IEEE International Conference on Robotics and Automation Barcelona, Spain, April 2005:2970-2971
18 Osamu Matsumoto, Shuuji Kajita, Kiyoshi Komoriya. Flexible Locomotion Control of a Self-contained Biped Leg-wheeled System,Proceedings of the 2002 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems ERFL, Lausanne, Switzerland, October 2002:2599-2601
19张湘,张立杰,潘存云等.基于球齿轮的新型轮腿复合式移动平台设计研究.国防科技大学学报.2008,30(4):98-102
20方岗.六轮腿自主移动机器人结构设计和模糊控制技术研究.南京理工大学硕士学位论文. 2006:12-14
21田娜,丁希仑,戴建生等.一种新型的变结构轮/腿式探测车机构设计与分析.机械设计与研究.2004,1:268-270
22尚伟燕,李舜酩,邱法聚.新型四轮腿式月球车轮腿结构设计及分析.武汉理工大学学报.2008,32(5):823-824
23王争.井下探测机器人控制系统研制及其运动性能分析.哈尔滨工业大学硕士学位论文.2007:4-30
24常勇,马书根,王洪光等.轮式移动机器人运动学建模方法.机械工程学报.2010,46(5):30-31
25 Muir P F, Neuman C P. Kinematic Modeling of Wheeled Mobile Robots. Journal of Robotic Systems.1987,4(2):285-296
26 SatoM, Jojo H, Matsuki H, et al. The Operation of a Magnetic Micromachine for Hyperthermia and Its Exothermic Characteristic.IEEE Transactions on Magnetics, 2002, 38 (51):3362 - 3364
27江水明.六轮自主移动机器人动力学建模与控制的研究.南京理工大学硕士学位论文.2005:10-13
28 Karl Iagnemma, Steven Dubowsky. Mobile Robot Rough-Terrain Control (RTC) For Planetary Exploration. Proceedings of 2000 ASME IDETC/CIE:26th Biennial echanisms and Robotics Conference,September 10-13,2000, Baltimore, Maryland:1-8
29 Gao Shuang, Norbert C. Cheung, K. W. Eric Cheng, Dong Lei, Liao Xiaozhong. Skid Steering in 4-Wheel-Drive Electric Vehicle.EPDS.2007: 1548-1551
30 Benjamin Shamah. Experimental Comparison of Skid Steering Vs.Explicit Steering for a Wheeled Mobile Robot. Submitted in Partial Fulfillment of the Requirements for the Degree of Master of Science in the Field of Robotics. March 1999:21-22
31 Giulio Reina, Lauro Ojeda, Annalisa Milella, Johann Borenstein.Wheel Slippage andSinkage Detection for Planetary Rovers. IEEE/ASME Transactions on Mechatronics, Vol. 11, NO. 2, APRIL 2006:185-188
32张国君,杨世文.四轮车辆滑移转向结构条件分析.拖拉机与农用运输.2007,34(4):22-24
33 Oscar Chuy Jr., Emmanuel G. Collins Jr., Wei Yu, Camilo Ordonez.Power Modeling of a Skid Steered Wheeled Robotic Ground Vehicle. 2009 IEEE International Conference on Robotics and Automation Kobe International Conference Center Kobe, Japan, May 12-17, 2009:4119-4122
34 J.-C.Fauroux, P.Vaslin.Modeling,Experimenting,and Improing Skid Steering on a 6×6 All-Terrain Mobile Platform.Journal of Field Robotics 2010,27(2):108-110
35 Hyun Do Choi, Chun Kyu Woo, Soohyun Kim, Yoon Keun Kwak, Sukjune Yoon. Independent Traction Control for Uneven Terrain Using Stick-slip Phenomenon: Application to a Stair Climbing Robot. Auton Robot .2007,23:8-16
36李斌,刘金国,谈大龙.可重构模块机器人倾翻稳定性研究.机器人. 2005,27(3):243-244
37 Gustavo Freitas, Gabriel Gleizer, Fernando Lizarralde, Liu Hsu, Ney Robinson Salvi dos Reis.Kinematic Reconfigurability Control for an Environmental Mobile Robot Operating in the Amazon Rain Forest. Journal of Field Robotics 2010,27(2) :198-201
38石侃.四杆机构与轮式复合机器人的实验研究.北京交通大学硕士学位论文.2007,12:38-40
39 Zah Siddique, David WRosen.Avirt Ual Prototypinga Proachto Produet Disassembly Reasoning. Computer Aided Design.1997(12):29-35
40 Gat E, Desai R, Ivlev R, Lxh J, Miller D P.Behavior Control for Robotice Exploration of Planetary Surfaces.IEEE Transaction on Roboties and Automation. 1994.10(4).490-496
41王东翠.自动对位系统运动控制器设计.哈尔滨工业大学硕士学位论文.2008:2-10
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