可重构多机动模式移动机器人及其关键技术研究
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摘要
随着移动机器人在诸如战场、医疗、服务等领域的应用日趋广泛和行星探测时代的来临,对未知环境中自主移动机器人技术与理论的需求日益增长。未知环境是指未知几何构造、未知地面地形地貌以及含有其它未知因素的环境;机器人对环境一无所知,无任何先验信息,且环境中不存在路标、灯塔等人为参照物;从空间角度看,通常是三维的。要在这样或类似的环境中研究移动机器人自主导航的理论与技术,拥有一个具有稳定性、通过性、越障性、可靠性和机动性的硬件移动平台绝对是必要的,因为任何先进的算法和理论都需要通过高机动性和高通过能力的载体来实现。
本文针对“未知环境中自主工作智能移动机器人导航系统研究”的国家863项目,在综述国内外关于移动机器人走行部拓扑结构、控制体系、机动性和通过性等移动机器人的相关理论和关键技术的基础上,综合利用精密机械、网络通信、传感技术等学科的技术,研制开发出一种多机动模式可重构移动机器人。对所涉及的移动机器人的相关关键技术进行了深入研究。
研制一种四轮独立驱动和独立转向(4WD4WS)的移动机器人机械本体、控制系统的软硬件。机器人的重构特性可使之变换出具有不同轴距、轮距、重心高度、净空和稳定裕量的机器人构型以适应不同导航任务;而其具有仿生特性的轮子,可使机器人具有沙地通过能力。所开发的以PC104为核心、以直流电机控制网为控制底层,以管理协调子模块为枢纽的控制系统硬件和基于网络的机器人参数测控软件,为分级并行竞争式控制体系结构、小空间系统综合技术、分布式供电与电源实时管理技术的实施提供物理支撑载体。
针对所研制的移动机器人可重构的特点,运用解析与投影几何方法,建立相对比较系数,从移动机器人的稳定性、几何通过性、操纵性和运动空间等角度定量地分析机器人重构构型的主要性能指标并给出重构构型优化的结果。尽管具有复合倾角的轮子(车轮有内/外倾角,轮臂有前/后倾角)在机器人与车辆中有所涉猎,但在其运动学的理论分析方面还鲜见报道。本文针对具有复合倾角的轮子的移动机器人建立空间三维运动学模型,并分析复合倾角对机器人运动学性能的影响,为以后的运动控制做理论准备。
基于运动学约束,证明在理想条件下(刚性轮子和地面之间点接触并保持纯滚动)四轮独立驱动和四轮独立转向(4WD4WS)移动机器人基于瞬心的统一运动规律。提出实际条件下基于任意分布速度瞬心的移动机器人统一运动控制算法
With the development of mobile robot application in many domains such as battle field, medicine, service and aerospace, the requirement toward autonomous theory and technology in unknown environment has increased dramatically. There is not any man-made reference and any priori information such as land marker or light tower in unknown environment which is usually three-dimensional. It is necessary for researchers to have a sophisticated mobile platform with stability, trafficability, terrainability, reliability and mobility, as any navigation algorithm should be realized by a mobile carrier with high trafficability and high maneuverability.
On the basis of investigation and synthesis of the relative theory and key technology on the topological structure of locomotion, control system architecture, maneuverability, trafficability, the integration of exact mechanical engineering, net-based communication and sensor technology, an innovative robot with reconfiguration and biomimetic characteristics has been developed for 863 Program of China—Study on Autonomous Navigation System for Intelligence Mobile Robot in Unknown Environment. The key technology related to the mobile robot has been put into fur study.
A mobile robot prototype with independent propulsion and individual steering i.e. 4WD4WS has been developed. The mission-oriented mobile robot has the adaptability of terrain, sensors and payload with the scope of 20 kilograms. Different prototypes with diversified wheelbase, wheel stance, clearance, stability margin and altitude of center of gravity can be achieved by reconfiguration. A wheel with high trafficability on sand terrain can be achieved by reconfiguration with bionic features. The hardware of control system of robot with PC104, network-based motor suite, the management MCS module and the monitor software based on networks has laid foundation to the implement of the hierarchical parallel competitive control architecture, system integration for the mechatronic device in small space, the on-line distributed power management and the motion control.
Based on the approach of geometry projection integrated with analytic geometry, the reconfigurable prototypes of robot are analyzed by modeling relative comparative coefficients in terms of geometrical trafficability, static stability, maneuverability and
本文针对“未知环境中自主工作智能移动机器人导航系统研究”的国家863项目,在综述国内外关于移动机器人走行部拓扑结构、控制体系、机动性和通过性等移动机器人的相关理论和关键技术的基础上,综合利用精密机械、网络通信、传感技术等学科的技术,研制开发出一种多机动模式可重构移动机器人。对所涉及的移动机器人的相关关键技术进行了深入研究。
研制一种四轮独立驱动和独立转向(4WD4WS)的移动机器人机械本体、控制系统的软硬件。机器人的重构特性可使之变换出具有不同轴距、轮距、重心高度、净空和稳定裕量的机器人构型以适应不同导航任务;而其具有仿生特性的轮子,可使机器人具有沙地通过能力。所开发的以PC104为核心、以直流电机控制网为控制底层,以管理协调子模块为枢纽的控制系统硬件和基于网络的机器人参数测控软件,为分级并行竞争式控制体系结构、小空间系统综合技术、分布式供电与电源实时管理技术的实施提供物理支撑载体。
针对所研制的移动机器人可重构的特点,运用解析与投影几何方法,建立相对比较系数,从移动机器人的稳定性、几何通过性、操纵性和运动空间等角度定量地分析机器人重构构型的主要性能指标并给出重构构型优化的结果。尽管具有复合倾角的轮子(车轮有内/外倾角,轮臂有前/后倾角)在机器人与车辆中有所涉猎,但在其运动学的理论分析方面还鲜见报道。本文针对具有复合倾角的轮子的移动机器人建立空间三维运动学模型,并分析复合倾角对机器人运动学性能的影响,为以后的运动控制做理论准备。
基于运动学约束,证明在理想条件下(刚性轮子和地面之间点接触并保持纯滚动)四轮独立驱动和四轮独立转向(4WD4WS)移动机器人基于瞬心的统一运动规律。提出实际条件下基于任意分布速度瞬心的移动机器人统一运动控制算法
With the development of mobile robot application in many domains such as battle field, medicine, service and aerospace, the requirement toward autonomous theory and technology in unknown environment has increased dramatically. There is not any man-made reference and any priori information such as land marker or light tower in unknown environment which is usually three-dimensional. It is necessary for researchers to have a sophisticated mobile platform with stability, trafficability, terrainability, reliability and mobility, as any navigation algorithm should be realized by a mobile carrier with high trafficability and high maneuverability.
On the basis of investigation and synthesis of the relative theory and key technology on the topological structure of locomotion, control system architecture, maneuverability, trafficability, the integration of exact mechanical engineering, net-based communication and sensor technology, an innovative robot with reconfiguration and biomimetic characteristics has been developed for 863 Program of China—Study on Autonomous Navigation System for Intelligence Mobile Robot in Unknown Environment. The key technology related to the mobile robot has been put into fur study.
A mobile robot prototype with independent propulsion and individual steering i.e. 4WD4WS has been developed. The mission-oriented mobile robot has the adaptability of terrain, sensors and payload with the scope of 20 kilograms. Different prototypes with diversified wheelbase, wheel stance, clearance, stability margin and altitude of center of gravity can be achieved by reconfiguration. A wheel with high trafficability on sand terrain can be achieved by reconfiguration with bionic features. The hardware of control system of robot with PC104, network-based motor suite, the management MCS module and the monitor software based on networks has laid foundation to the implement of the hierarchical parallel competitive control architecture, system integration for the mechatronic device in small space, the on-line distributed power management and the motion control.
Based on the approach of geometry projection integrated with analytic geometry, the reconfigurable prototypes of robot are analyzed by modeling relative comparative coefficients in terms of geometrical trafficability, static stability, maneuverability and
引文
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