CN103135549A - Motion control system and motion control method for spherical robot with visual feedback - Google Patents
Motion control system and motion control method for spherical robot with visual feedback Download PDFInfo
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Abstract
The invention discloses a motion control system and a motion control method for a spherical robot with visual feedback. The motion control system comprises a binocular visual system, a gyroscope, a spherical robot body, an embedded-type controller and a wireless communication module. The motion control system is positioned through cooperation between a visual camera and the gyroscope and measures self motion parameter information of the robot in real time, and the self motion parameter information is used as feedback to be input into a controller. After conducting calculations, the controller issues a control order to a motor on the spherical robot so as to achieve tracking of a targeted path. Meanwhile, the controller can also monitor state information of the robot remotely and give an operation order. The motion control method sets up an inner ring control strategy by adopting a state feedback algorithm, sets up an outer ring control strategy by adopting a curvature tracking algorithm and conducts control through combining an inner ring and an outer ring. The left and right image sequence can be collected in real time through the binocular visual system. By means of adoption of a binocular visual range algorithm, postures and changes of position of the spherical robot can be figured out. By mean of the gyroscope, errors caused by an unstable platform are complemented, and obtained results are used as feedback to be brought into a control algorithm.
Description
Technical field
The present invention relates to the Robotics field, particularly a kind of ball shape robot kinetic control system and motion control method with visual feedback.
Background technology
Ball shape robot refers to that a class is built in a spherical shell inside such as motion, sensor, controller, utilizes the mobile robot of spherical shell as rolling walking device.With the mobile robot such as wheeled, crawler type, compare, the characteristics of ball shape robot are: 1) motion turn to flexibly and radius of turn less, can be slightly larger than through aperture the tortuous passageway of its diameter; 2) there is the characteristic of similar tumbler, in walking process, with barrier or other motion, bump and also can after the irregular movement through of short duration, recover stable state; 3) when occurring the dangerous situation such as to fall from eminence, still can work on, not have the problem of turning.Therefore, ball shape robot operation in the wild, anti-terrorism and the fields such as disaster relief and community service have broad application prospects.
A large amount of research work has been carried out in the aspects such as the current mechanism design to ball shape robot, kinematics/Dynamic Modeling, motion control.But, be limited to totally-enclosed spherical housing and special rolling walking manner, existing ball shape robot often lacks externally measured sensor (as laser sensor, vision camera etc.), its environment sensing ability a little less than, be difficult to obtain exactly the kinematic parameter such as position, speed of ball shape robot, thereby mainly adopt Remote or open loop to control at motion control method, the problem such as have that control accuracy is not high, cumulative errors are large and antijamming capability is poor.
The motion control problem of ball shape robot has become the key issue of the further application and development of stymie anthropomorphic robot.Yet realize that accurate motion control needs the mobile robot to carry multiple externally measured sensor, for obtaining in real time robot kinematic parameter (accurately locating) accurately.In recent years, localization method based on vision comes into one's own because of its abundant information gathered, wide accommodation, just progressively become the main implementation method of mobile robot's autonomous localization and navigation, its advantage is: do not rely on mobile robot's motion model, the image sequence of external environment condition of take is input, can effectively correct the cumulative errors caused by factors such as slip, gap, model bias.But ball shape robot adopts the also less of vision location in the middle of practical application.Carry vision camera although also have, mostly only for the non-productive operation personnel, realize monitoring remote video.
Summary of the invention
The objective of the invention is, in order to overcome the deficiency of existing ball shape robot movement control technology, to propose a kind of control accuracy is high, real-time is good ball shape robot kinetic control system and motion control method.
The present invention adopts following technical scheme:
A kind of ball shape robot kinetic control system with visual feedback, is characterized in that, comprises that binocular vision system, gyroscope, ball shape robot body, embedded controller and wireless communication module form.Kinetic control system coordinates and positions by binocular vision system and gyroscope, real-time monitoring human body's moving parameter information, and as feed back input to embedded controller, controller carries out, after computing, the motor on ball shape robot is sent to control command, to realize the tracking to destination path, status information that simultaneously can also be by wireless communication module remote monitoring machine people and send operational order.
In above-mentioned ball shape robot kinetic control system, described ball shape robot body mainly comprises: monoblock type spherical shell, framework, hollow major axis, vision camera mounting bracket, walking driving mechanism and left side plate etc.The spherical crown of the spherical shell left and right sides is pruned, and framework is connected to spherical shell by major axis and the side plate of the left and right sides.Major axis adopts hollow design, and an end is fixedly connected with spherical shell by side plate, and the other end rolls and is connected with framework by bearing.
In above-mentioned ball shape robot kinetic control system, described binocular vision system is arranged on camera support, and support is designed in the inside of hollow major axis, and is fixedly connected with framework, and two ends are used for vision camera is installed, and stretch out spherical shell by the through hole of major axis.Two vision camera in left and right have fixing relative position relation, and when static, the camera optical axis is parallel and in the same way, form stereoscopic vision.Two spherical crowns are installed respectively in camera mounting bracket both sides, process through hole on spherical crown, and the camera light path is not blocked simultaneously.Because vision camera is fixedly connected with framework, thereby with spherical shell, do not rotate in the robot ambulation process, can stably obtain ambient image clearly.
In above-mentioned ball shape robot kinetic control system, described walking driving mechanism is divided into major axis driving mechanism and minor axis driving mechanism.The major axis motor is arranged on the outside of framework, and its output shaft is by transmission gear and major axis engagement.The minor axis motor is arranged on the framework inboard perpendicular to major axis, and its output shaft is for driving balancing weight.When the major axis electric machine rotation, driver framework and balancing weight are rotated to drive machines people's straight line moving around major axis.When the major and minor axis motor rotates simultaneously, the minor axis motor will drive balancing weight generation side-sway, can change the attitude of robot, realize the control that turns to of robot, and wherein embedded controller is arranged on balancing weight.
A kind of ball shape robot motion control method, is characterized in that, comprises following steps:
S1: camera and gyroscope are demarcated apart from the position of image center;
S2: open binocular camera, carry out left and right image continuous acquisition, open gyroscope, the camera attitude is measured;
S3: utilize the Euclidean distance of the outer polar curve constraint of stereoscopic vision and unique point descriptor to realize the Stereo matching of left and right image characteristic point, set up Feature Points Matching pair, and utilize KLT signature tracking algorithm to realize the signature tracking between the two field picture of front and back.Adopt the Bucketing algorithm to be screened image characteristic point, make selected image characteristic point be evenly distributed in the whole plane of delineation;
S4: set up the visual imaging model that becomes outer parameter while having, utilize inertial sensor to measure in real time the attitude of vision camera mounting bracket, the outer parameter of vision camera is compensated.Utilize the coordinate of triangulation computed image unique point in three dimensions, obtain the three-dimensional feature point set.Corresponding three-dimensional feature point set between two field picture before and after asking for, module and carriage transformation matrix R and the t of employing Horn Analytic Method robot between the two field picture of front and back.Simultaneously, adopt the RANSAC algorithm, by iteration, reduce the error that " point not in the know " causes;
S5: module and carriage transformation matrix R and t are scaled to the pose variable quantity of robot, obtain the velocity estimation of robot, realize that the kinematic parameter based on stereoscopic vision is estimated.The data that adopt the multi-sensor Fusion Algorithm such as Kalman wave filter to obtain stereoscopic vision and inertial sensor are merged, and finally obtain the kinematic parameter of ball shape robot;
S6: the moving parameter information that the visual feedback of usining obtains, as the feed back input of controller, is sent destination path and expection spin angle velocity by wireless communication module
at first will expect spin angle velocity
send to interior ring controller, interior ring controller is adjusted major axis drive motor output torque size according to the STATE FEEDBACK CONTROL algorithm, makes ball shape robot
arrive desired value, thereby it is stable that the ball shape robot movement velocity is arrived;
S7: then destination path is sent to outer ring controller, controller obtains according to visual feedback the posture information of self and the deviation between destination path calculate the course angle speed of current ball shape robot expection by outer shroud curvature track algorithm
S8: by the course angle speed of expection
input to interior ring controller, adopt the STATE FEEDBACK CONTROL algorithm, adjust minor axis drive motor output torque size, make the course angle speed of ball shape robot
arrive expection;
S9: by real-time visual feedback, the inner and outer ring controller constantly carries out iterative computation, the outer ring controller constantly real-time expection course angle speed of output is given interior ring controller, thereby adjust the movement locus of robot, make movement locus level off to destination path, finally make robot walk along destination path.
Above-mentioned robot motion's control method, described step S7 comprises: comprise the steps:
Calculate the curvature, deflection of the track of current robot and from the distance of destination path according to the pose of destination path and current robot.
Bring the data that obtain into the curvature tracking control unit, its mean curvature tracking control unit is:
In formula: the derivative of the curvature k that dk/ds is robot path to path arc length s; k
a, k
band k
cfor being greater than zero constant; ψ and ψ
rbe respectively the deflection of robot and the deflection of expected path; Δ d means the distance of current point apart from target line, and when Δ d>0, robot is positioned at the left side of expected path, and when Δ d<0, robot is positioned at the right of expected path, if robot is positioned on the path of expectation, and Δ d=0.
The result that controller is obtained is carried out integration, obtains the curvature of expectation, then is multiplied by the current speed of robot, obtains the course angle speed of expectation
above-mentioned robot motion's control method, described step S8 will utilize step S6, allows spin angle velocity
become stationary value, thereby make the Dynamic Models of Robot Manipulators linearization, could be to course angle speed
controlled.
The present invention is with respect to the following advantage of prior art and technique effect:
1, vision camera is connected on framework by major axis, and is arranged on the spherical shell outside, can break away from the constraint of spherical shell, better obtains outside environmental information.
2, wireless communication module and embedded controller are arranged on travel mechanism, have changed the ball shape robot mass distribution, make inner frame form a comparatively stabilised platform, guarantee the stability of vision camera.
3, the mode of utilizing vision camera and gyroscope to combine, improved the accuracy of controlling feedback.
4, control flexibly, the control method that can combine by inner and outer ring, from the motion tracking expectation path.
5, the operator can monitor in real time, and assist operator is operated more accurately.
The accompanying drawing explanation
Fig. 1 is the ball shape robot kinetic control system structural drawing with visual feedback that the present invention proposes.
Fig. 2 is that the ball shape robot kinematic parameter with visual feedback that the present invention proposes is estimated block diagram.
Fig. 3 is the control block diagram of the motion control method that proposes of the present invention.
Fig. 4 is the ball shape robot kinematic parameter definition with visual feedback that the present invention proposes.
Embodiment
Understand in more detail the specific embodiment of the present invention below with reference to accompanying drawing.
Be illustrated in figure 1 the ball shape robot kinetic control system with visual feedback of the present invention.This system comprises: binocular vision system 1, gyroscope 2, ball shape robot body 3, embedded controller 4 and wireless communication module form 5.Kinetic control system coordinates and positions by binocular vision system 1 and gyroscope 2, real-time monitoring human body's 3 moving parameter information, and as feed back input to embedded controller 4, controller carries out, after computing, the motor on ball shape robot is sent to control command, to realize the tracking to destination path, status information that simultaneously can also be by wireless communication module remote monitoring machine people and send operational order.
The three-dimensional localization gyroscope that gyroscope 2 is enhancement mode, can measure three angle or angular velocity varies on direction.It is arranged on ball shape robot framework top, guarantees the angle that it can gage frame have been put, and binocular vision system has been put angle.Gyroscope is connected by serial ports with embedded controller, and embedded controller constantly receives the angle of gyroscope feedback and processed.
Ball shape robot body 3 mainly comprises: monoblock type spherical shell, framework, hollow major axis, vision camera mounting bracket, walking driving mechanism and left side plate etc.The spherical crown of the spherical shell left and right sides is pruned, and framework is connected to spherical shell by major axis and the side plate of the left and right sides.Major axis adopts hollow design, and an end is fixedly connected with spherical shell by side plate, and the other end rolls and is connected with framework by bearing.The walking driving mechanism is divided into major axis driving mechanism and minor axis driving mechanism.The major axis motor is arranged on the outside of framework, and its output shaft is by transmission gear and major axis engagement.The minor axis motor is arranged on the framework inboard perpendicular to major axis, and its output shaft is for driving balancing weight.When the major axis electric machine rotation, driver framework and balancing weight are rotated to drive machines people's straight line moving around major axis.When the major and minor axis motor rotates simultaneously, the minor axis motor will drive balancing weight generation side-sway, can change the attitude of robot, realize the control that turns to of robot.
Embedded controller 4 is arranged on ball shape robot walking actuator configuration piece, adopt the upper and lower computer structure, host computer adopts MINI-ATX mainboard, I33.1GHZ processor, 30G solid state hard disc, 2G internal memory, the DC-ATX power module, improve greatly data-handling capacity and the storage capacity of system, taken into account system stability, power and undersized requirement simultaneously.Host computer operation stability, the (SuSE) Linux OS that security is good, main operation vision camera and the gyroscope location algorithm be responsible for.Slave computer consists of the ARM7 processor, mainly is responsible for the control algolithm of the interior ring of bottom and outer shroud, and controls motor by the can mouth.Host computer sends to slave computer by the position of ball shape robot and attitude information by serial ports.By the DC12V lithium battery be equipped with, can continuous firing two hours.
Wireless communication module 5 is wireless network card high-power, wide bandwidth, is arranged on the framework of ball shape robot body, is mainly used to realize communicating with distance host, will control result and constantly send to Terminal Server Client, realizes monitoring in real time.Wireless communication module also can, by the image remote transmission gathered, be realized the image remote monitoring simultaneously.Wireless communication module is connected by USB (universal serial bus) with embedded controller.
Be illustrated in figure 2 the ball shape robot kinematic parameter estimation block diagram with visual feedback that the present invention proposes.
Be illustrated in figure 3 the control block diagram of the motion control method of the present invention's proposition.
Be illustrated in figure 4 the ball shape robot kinematic parameter definition with visual feedback that the present invention proposes.
Originally there is the ball shape robot motion control method of visual feedback, comprise the steps:
S1: camera and gyroscope are demarcated apart from the position of image center.Demarcate the stereoscopic camera parameter, comprising: f, T, u
0, v
0and distortion parameter; Demarcate stereoscopic camera and gyroscope location parameter, comprise left camera lens photocentre and centre of sphere distance L, left camera lens photocentre and centre of sphere distance and horizontal line angle α;
S2: open the binocular vision camera, carry out left and right image continuous acquisition, open the one dimension gyroscope, the camera attitude is measured;
S3: utilize the Euclidean distance of the outer polar curve constraint of stereoscopic vision and unique point descriptor to realize the Stereo matching of left and right image characteristic point, set up Feature Points Matching pair, if image is the first frame, the left and right image gathered is extracted to the Shi-Tomasi feature, and utilize the SIFT descriptor to be described, by the three-dimensional reconstruction algorithm, by the two dimensional image coordinate conversion of unique point, be three dimensional space coordinate, simultaneously to passing through image block, adopt the Bucketing algorithm to be screened image characteristic point, make selected image characteristic point be evenly distributed in the whole plane of delineation, obtain present frame left and right matching characteristic point set
and obtain successively parallax d.The matching characteristic point set is transformed into to camera coordinate system from image coordinate system, obtains three-dimensional matching characteristic point set under camera coordinate system
if image is not the first frame, utilize KLT signature tracking algorithm to realize the signature tracking between the two field picture of front and back;
S4: set up the visual imaging model that becomes outer parameter while having, utilize inertial sensor to measure in real time the attitude of vision camera mounting bracket, the outer parameter of vision camera is compensated.Obtain by gyroscope the angle θ that current heavy pendulum swings, by three-dimensional matching characteristic point set under camera coordinate system
be transformed in the ball shape robot body coordinate system, obtain three-dimensional matching characteristic point set under the ball shape robot body coordinate system
finally be transformed into world coordinate system, obtain three-dimensional matching characteristic point set under world coordinate system
corresponding three-dimensional feature point set between two field picture before and after asking for, module and carriage transformation matrix R and the t of employing Horn Analytic Method robot between the two field picture of front and back.Simultaneously, adopt the RANSAC algorithm, by iteration, reduce the error that " point not in the know " causes;
S5: module and carriage transformation matrix R and t are scaled to the pose variable quantity of robot, obtain the velocity estimation of robot, realize that the kinematic parameter based on stereoscopic vision is estimated.The data that adopt the multi-sensor Fusion Algorithm such as Kalman wave filter to obtain stereoscopic vision and inertial sensor are merged, and finally obtain the kinematic parameter of ball shape robot;
S6: the moving parameter information that the visual feedback of usining obtains, as the feed back input of controller, is sent destination path and expection spin angle velocity by wireless communication module
at first will expect spin angle velocity
send to interior ring controller, interior ring controller is adjusted major axis drive motor output torque size according to the STATE FEEDBACK CONTROL algorithm, makes ball shape robot
arrive desired value, thereby it is stable that the ball shape robot movement velocity is arrived;
Suppose that ball shape robot makes pure rolling in smooth horizontal plane, set up its kinematic constraint equation.Ball shape robot is reduced to mainly and is comprised of spherical shell, framework and balancing weight three parts, and the Lagrangian function of derivation each several part, set up kinetic model, and the linearization kinetic model of ball shape robot is:
I wherein
bxxfor spherical shell around x axle moment of inertia, I
ixxfor framework, around x axle moment of inertia, all the other in like manner.From above formula, the spin angle acceleration
with
and
irrelevant Deng variable, thereby can carry out decoupling zero to system, be decomposed into the system of two single inputs: the spin angle of a descriptive system, the input control amount is major axis drive motor output torque τ
1, by designing independent closed-loop control rate, carry out pilot angle speed
the angle of precession of another descriptive system and angle of nutation, the input control amount is minor axis drive motor output torque τ
2.Due to spin angle velocity
after the FEEDBACK CONTROL of closed loop, can regard a definite value as, thereby can simplify Linear Time-Invariant System about the system model of angle of precession and angle of nutation:
In formula:
a and G can be derived and be obtained by kinetic model.
Utilize the system state equation of top two groups of decoupling zeros, the control task of ball shape robot can be decomposed into to two subtasks: one is that movement velocity is controlled, i.e. the spin angle velocity of control; Another is motion attitude control, i.e. the angle of precession of control and angle of nutation.Wherein, it is basis that speed is controlled, and requires the spin angle velocity of robot in motion process to be stabilized in expectation angular velocity
near.Putting before this, utilizing τ
2the athletic posture of control.
Design two interior ring controllers, realize respectively the closed-loop control to robot motion's attitude and movement velocity.Wherein, the movement velocity controller is designed to:
The motion attitude control device is designed to:
Utilize top two interior ring controllers, can realize spin angle velocity
with course angle speed
control.
S7: then destination path is sent to outer ring controller, controller obtains according to visual feedback the posture information of self and the deviation between destination path calculate the course angle speed of current ball shape robot expection by outer shroud curvature track algorithm
Above-mentioned robot control method, described step S7 comprises: comprise the steps:
Calculate the curvature, deflection of the track of current robot and from the distance of destination path according to the pose of destination path and current robot.
Bring the data that obtain into the curvature tracking control unit, its mean curvature tracking control unit is:
In formula: the derivative of the curvature k that dk/ds is robot path to path arc length s; k
a, k
band k
cfor being greater than zero constant; ψ and ψ
rbe respectively the deflection of robot and the deflection of expected path; Δ d means the distance of current point apart from target line, and when Δ d>0, robot is positioned at the left side of expected path, and when Δ d<0, robot is positioned at the right of expected path, if robot is positioned on the path of expectation, and Δ d=0.
The result that controller is obtained is carried out integration, obtains the curvature of expectation, then is multiplied by the current movement velocity of robot, obtains the course angle speed of expectation
S8: by the course angle speed of expection
input to interior ring controller, adopt feedback control algorithm, utilize motion attitude control device mentioned above, adjust minor axis drive motor output torque size, thereby the current athletic posture of control makes the course angle speed of ball shape robot
arrive expection, the prerequisite of carrying out this step is to utilize step S6, by interior ring controller by spin angle velocity
become stationary value, thereby make Dynamic Models of Robot Manipulators linearization mentioned above, could be to ball shape robot course angle speed under this prerequisite
effectively control.
S9: by real-time feedback, the course angle speed that outer ring controller makes new advances according to current position and attitude combining target path computing
then input to interior ring controller, i.e. repeating step S7 and step S8, constantly adjust the movement locus of robot, makes movement locus level off to destination path, finally makes robot walk along destination path.
Claims (7)
1. the ball shape robot kinetic control system with visual feedback, is characterized in that, comprises that binocular vision system, gyroscope, ball shape robot body, embedded controller and wireless communication module form.Kinetic control system coordinates and positions by binocular vision system and gyroscope, real-time monitoring human body's moving parameter information, and as feed back input to embedded controller, controller carries out, after computing, the motor on ball shape robot is sent to control command, to realize the tracking to destination path, status information that simultaneously can also be by wireless communication module remote monitoring machine people and send operational order.
2. according to ball shape robot kinetic control system claimed in claim 1, it is characterized in that, the ball shape robot body mainly comprises: monoblock type spherical shell, framework, hollow major axis, vision camera mounting bracket, walking driving mechanism and left side plate etc.The spherical crown of the spherical shell left and right sides is pruned, and framework is connected to spherical shell by major axis and the side plate of the left and right sides.Major axis adopts hollow design, and an end is fixedly connected with spherical shell by side plate, and the other end rolls and is connected with framework by bearing.
3. according to ball shape robot kinetic control system claimed in claim 2, it is characterized in that, binocular vision system is arranged on camera support, support is designed in the inside of hollow major axis, and with framework, be fixedly connected with, two ends are used for vision camera is installed, and stretch out spherical shell by the through hole of major axis.Two vision camera in left and right have fixing relative position relation, and when static, the camera optical axis is parallel and in the same way, form stereoscopic vision.Two spherical crowns are installed respectively in camera mounting bracket both sides, process through hole on spherical crown, and the camera light path is not blocked simultaneously.Because vision camera is fixedly connected with framework, thereby with spherical shell, do not rotate in the robot ambulation process, can stably obtain ambient image clearly.
4. according to ball shape robot kinetic control system claimed in claim 2, it is characterized in that, the walking driving mechanism is divided into major axis driving mechanism and minor axis driving mechanism.The major axis motor is arranged on the outside of framework, and its output shaft is by transmission gear and major axis engagement.The minor axis motor is arranged on the framework inboard perpendicular to major axis, and its output shaft is for driving balancing weight.When the major axis electric machine rotation, driver framework and balancing weight are rotated to drive machines people's straight line moving around major axis.When the major and minor axis motor rotates simultaneously, the minor axis motor will drive balancing weight generation side-sway, can change the attitude of robot, realize the control that turns to of robot, and wherein embedded controller is arranged on balancing weight.
5. a ball shape robot motion control method, is characterized in that, comprises following steps:
S1: camera and gyroscope are demarcated apart from the position of image center;
S2: open binocular camera, carry out left and right image continuous acquisition, open gyroscope, the camera attitude is measured;
S3: utilize the Euclidean distance of the outer polar curve constraint of stereoscopic vision and unique point descriptor to realize the Stereo matching of left and right image characteristic point, set up Feature Points Matching pair, and utilize KLT signature tracking algorithm to realize the signature tracking between the two field picture of front and back.Adopt the Bucketing algorithm to be screened image characteristic point, make selected image characteristic point be evenly distributed in the whole plane of delineation;
S4: set up the visual imaging model that becomes outer parameter while having, utilize inertial sensor to measure in real time the attitude of vision camera mounting bracket, the outer parameter of vision camera is compensated.Utilize the coordinate of triangulation computed image unique point in three dimensions, obtain the three-dimensional feature point set.Corresponding three-dimensional feature point set between two field picture before and after asking for, module and carriage transformation matrix R and the t of employing Horn Analytic Method robot between the two field picture of front and back.Simultaneously, adopt the RANSAC algorithm, by iteration, reduce the error that " point not in the know " causes;
S5: module and carriage transformation matrix R and t are scaled to the pose variable quantity of robot, obtain the velocity estimation of robot, realize that the kinematic parameter based on stereoscopic vision is estimated.The data that adopt the multi-sensor Fusion Algorithm such as Kalman wave filter to obtain stereoscopic vision and inertial sensor are merged, and finally obtain the kinematic parameter of ball shape robot;
S6: the moving parameter information that the visual feedback of usining obtains, as the feed back input of controller, is sent destination path and expection spin angle velocity by wireless communication module
at first will expect spin angle velocity
send to interior ring controller, interior ring controller is adjusted major axis drive motor output torque size according to the STATE FEEDBACK CONTROL algorithm, makes ball shape robot
arrive desired value, thereby it is stable that the ball shape robot movement velocity is arrived;
S7: then destination path is sent to outer ring controller, controller obtains according to visual feedback the posture information of self and the deviation between destination path calculate the course angle speed of current ball shape robot expection by outer shroud curvature track algorithm
S8: by the course angle speed of expection
input to interior ring controller, adopt the STATE FEEDBACK CONTROL algorithm, adjust minor axis drive motor output torque size, make the course angle speed of ball shape robot
arrive expection;
S9: by real-time visual feedback, the inner and outer ring controller constantly carries out iterative computation, the outer ring controller constantly real-time expection course angle speed of output is given interior ring controller, thereby adjust the movement locus of robot, make movement locus level off to destination path, finally make robot walk along destination path.
6. according to robot motion's control method claimed in claim 5, it is characterized in that, step S7 comprises: comprise the steps:
Calculate the curvature, deflection of the track of current robot and from the distance of destination path according to the kinematic parameter of destination path and current robot.
Bring the data that obtain into the curvature tracking control unit, its mean curvature tracking control unit is:
In formula: the derivative of the curvature k that dk/ds is robot path to path arc length s; k
a, k
band k
cfor being greater than zero constant; ψ and ψ
rbe respectively the deflection of robot and the deflection of expected path; Δ d means the distance of current point apart from target line, and when Δ d>0, robot is positioned at the left side of expected path, and when Δ d<0, robot is positioned at the right of expected path, if robot is positioned on the path of expectation, and Δ d=0.
The result that controller is obtained is carried out integration, obtains the curvature of expectation, then is multiplied by the current speed of robot and obtains, the course angle speed of expectation
7. according to robot motion's control method claimed in claim 5, it is characterized in that, step S8 will utilize step S6, allows spin angle velocity
become stationary value, thereby make the Dynamic Models of Robot Manipulators linearization, could be to course angle speed
controlled.
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