复合轮式机器人运动控制数学建模与实验研究∗

摘要

To improve the operation limits and the effective utilization of fixed CBHR( Cotton Barrel Han-dling robot),a kind of CWR(Composite Wheeled Robot) has been developed with the Automatic Guided Vehicle as the installation platform to carry out the walking motion for the CBHR in accordance with the re-quirements of the mechanized operation for changing cotton barrels in cotton spinning workshop. The essen-tial condition for the resisting overturning has been discussed and the mathematics model of speed adjustment and direction rectification also been established. The influence factor of the motion speed and position preci-sion as well as the control law obtaining stable movement characteristics for the CWR robot have been dis-cussed with the introduction of the drive motor speed control parameter. The running test of the experimental prototype shows that the method of speed regulation is correct, speed regulation and positioning accuracy can meet the requirements of operation technology.%针对棉纺车间棉桶搬运更换机械化作业技术要求,改善固定式4轴棉桶搬运机器人( Cotton Barrel Handling Robot,CBHR)的作业局限性,提高CBHR的有效利用率,文章研制了一种以自动导引车( Automatic Guided Vehicle,AGV)作为CBHR安装平台的复合轮式机器人( Composite Wheeled Ro-bot,CWR),实现其作业时行走运动；探讨了复合轮式机器人抗倾覆的必要条件,建立了CWR速度调节与方向纠偏的数学模型。引入驱动电机速度运行控制参量,分析了CWR机器人运动速度、定位精度影响因素与获得稳定运动特性的控制规律；对实验样机运行测试研究表明,文章提出的运行速度调节方法正确,速度调节、定位精度满足作业技术要求。