| 关节式移动机器人越障动态稳定性分析与控制 |
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| 引用本文： | 徐正飞,陆际联,杨汝清,熊光明,杨华.关节式移动机器人越障动态稳定性分析与控制[J].北京理工大学学报,2005,25(4):311-314. |
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| 作者姓名： | 徐正飞 陆际联 杨汝清 熊光明 杨华 |
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| 作者单位： | 北京理工大学,机械与车辆工程学院,北京,100081;天津军事交通学院,汽车工程系,天津,300636;北京理工大学,机械与车辆工程学院,北京,100081;上海交通大学,机器人中心,上海,200030;天津军事交通学院,汽车工程系,天津,300636 |
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| 摘 要： | 通过对关节式移动机器人越障过程运动学和动力学分析,得出控制移动机器人越障时保证动态稳定性的约束条件.根据传感器感知信息,用模糊逻辑控制方法改变车体姿态以适应地形,实现局部自主越障.实验表明,加入动态稳定性约束后,提高了关节式移动机器人越障的稳定性和越障速度,减少了各关节的动作,改善了越障性能.
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| 关 键 词： | 关节式移动机器人 越障 动态稳定性 |
| 文章编号： | 1001-0645(2005)04-0311-05 |
| 收稿时间： | 2004/5/13 0:00:00 |
Analysis and Control of Dynamic Stability for Articulated Mobile Robot Obstacle Negotiation |
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| XU Zheng-fei,LU Ji-lian,YANG Ru-qing,XIONG Guang-ming and YANG Hua.Analysis and Control of Dynamic Stability for Articulated Mobile Robot Obstacle Negotiation[J].Journal of Beijing Institute of Technology(Natural Science Edition),2005,25(4):311-314. |
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| Authors: | XU Zheng-fei LU Ji-lian YANG Ru-qing XIONG Guang-ming and YANG Hua |
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| Institution: | School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing100081,China; Department of Automotive Engineering, Tianjin Military Transport College, Tianjin300636,China;School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing100081,China;Robotic Research Centre of Shanghai Jiaotong University, Shanghai200030,China;School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing100081,China;Department of Automotive Engineering, Tianjin Military Transport College, Tianjin300636,China |
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| Abstract: | Analyzed kinematics and dynamics of the obstacle negotiations for an articulated mobile robot a restriction condition to guarantee dynamic stability when it gets over the obstacles. Based on sensors' information, a method of fuzzy logical control is used to regulate the robot's posture to adapt rough terrain and realize local autonomous obstacle negotiation. Experiments show that the restriction improves the negotiation stability and velocity, decrease actions of each joint, and increase performances of the obstacle negotiation. |
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| Keywords: | articulated mobile robot obstacle negotiation dynamic stability |
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