CN109765894A - Steering wheel drives omni-directional mobile robots motion control method - Google Patents
Steering wheel drives omni-directional mobile robots motion control method Download PDFInfo
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- CN109765894A CN109765894A CN201910061308.XA CN201910061308A CN109765894A CN 109765894 A CN109765894 A CN 109765894A CN 201910061308 A CN201910061308 A CN 201910061308A CN 109765894 A CN109765894 A CN 109765894A
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Abstract
The present invention is a kind of steering wheel driving method of omni-directional mobile robots motion control, the present invention is derived by using kinematics theorem and vector compositional rule, by inputting desired translational velocity, velocity of rotation, turning radius, the speed and direction that each set steering wheel is exported after calculating by algorithm realize desired motion mode in turn, this algorithm is realized for the mobile robot for installing two or more steering wheels and is translatable at any angle, rotation when rotation and translational velocity when the steering at opposite any point and translational velocity are 0 are not 0 is as shown in Figure 9, wherein contain translational motion, spinning motion, it rotation and is flexibly turned to relative to arbitrary point in translation motion, keep steering wheel driving omni-directional mobile robots motion mode more flexible.
Description
Technical field
The present invention relates to automation control areas, Motor Control Field, and in particular to be steering wheel servo motor one kind
Motion control method.
Background technique
With the development of logistlcs technology in society, steering wheel is more and more applied to the shifting of heavy-load type AGV and heavy-load type
Above mobile robot.Steering wheel, which refers to, is integrated with the integrated mechanical structure such as driving motor, steering motor, speed reducer, so rudder
Omni-directional mobile robots based on wheel have more flexible motion mode.
The motion mode of omni-directional mobile robots based on by steering wheel mainly has translation, rotation and flexibly turns to, packet
The translation and the turning centered on any point for having contained any direction, in the control mode of steering wheel individually realize translation or
Rotation is all easier to realize, but realizes rotation during translation and flexibly turn to be relatively difficult.
Therefore, for above-mentioned, there are difficult point, we using movement synthetic method propose a kind of effective motion control side
Method solves the problems, such as this.
Summary of the invention
The purpose of the present invention is overcome the deficiencies in the prior art, solve the Omni-mobile based on steering wheel by a kind of algorithm
The translation and steering of the ordinary circumstance of robot, it contains the rotation of any direction, the translation of arbitrary speed and arbitrary speed
And a variety of situations realizing rotation during the translation of friction speed and flexibly turning to.
The steering wheel mounting means of the omni-directional mobile robots of Twin Rudders wheel and multiple steering wheels just relatively freely, may be mounted at
The middle line on robot chassis, diagonal positions or it is unilateral horizontal and it is unilateral be vertically arranged, by adjusting the angle and speed of each set steering wheel
Degree can make mobile robot realize lane change in the case where not rotating, and the movement such as turn to, can be with by our control algolithm
It realizes the divertical motion for along arbitrary point being turning center and rotation during realization translation, there is very strong flexibility.
The present invention uses four wheel mobile robot models of the Twin Rudders wheel drive being diagonally distributed, and two wheels in addition use
Universal wheel is illustrated with this model.By the co-operating of two sets of steering wheels, any direction translation may be implemented, turn to and
Robot rotation when motion and standstill.
(1) translation of any direction: since two steering wheels can be freely rotated, as long as so provide translational direction, two steering wheels
Adjustment posture turns to translational direction, and keeps speed consistent, and translation can be realized.
(2) it flexibly turns to: since two steering wheels can be freely rotated, so two steering wheels are likely to occur various combinations.Divide first
Ordinary circumstance is analysed, makees the vertical line of two steering wheel speed, the center of available robot divertical motion respectively.By changing two steering wheels
Directional velocity can determine the center of a divertical motion, robot can move in a circle around this point, then, according to required
The steering wanted provides a turning center and turning velocity, the speed of you can get it two steering wheels and direction, completes to turn around this point
To.
(3) spinning motion: the condition of rotation is the presence of a pair of of couple, so only needing the speed adjustment of two steering wheels
Be it is equal in magnitude, contrary, can be completed with the rotation of the artificial rotation center of machine, but under actual conditions, the direction of tire
The abrasion that can aggravate tire not identical as motion profile, and energy is wasted, turn to low efficiency.So being needed certainly in robot
When turning, two steering wheels should be adjusted to the state perpendicular with rotation center line.
(4) be translatable during rotation: according to the synthesis of speed and decompose rule, to make robot during translation from
Turn, the speed of two steering wheels can be separately disassembled into two component velocities, a pair of of component velocity is equal in magnitude, and direction is perpendicular to two steering wheels
With the line of rotation center, couple is formed, robot rotation is made；A pair of of component velocity size, direction are all the same, keep robot
Translation.
By the analysis to above situation, it is determined that following control method.
Firstly, it is necessary to the angular speed at the driving direction angle of clear omni-directional mobile robots, travel speed and rotation, due to
The translational velocity of mobile robot is vector, so the translational velocity of mobile robot and direction are indicated with vector, i.e., to
The direction of amount is the direction of translation, and vector field homoemorphism is the size of speed.
The target velocity vector of mobile robotIt indicates.The target angular velocity of mobile robot rotation is usedωIt indicates.
Wherein the speed and direction of steering wheel 1 and steering wheel 2 use vector respectivelyWithIt indicates.
Due to the movement executing mechanism that two sets of steering wheels are mobile robot, so vectorWithIt must be by mobile platform
Target velocityAnd target angular velocityωCalculating formula expression.
Further, when mobile robot any direction is translatable, needing rotational angular velocity is 0, the speed and rotation of two steering wheels
Angle is identical, and vector indicates i.e.:≠0；ω=0；==。
Further, since the installation site that mobile robot completes the process later steering wheel is fixed, so enabling two steering wheels
Distance of the installation site away from the centre of gyration is respectively r1And r2。
Further, when mobile robot rotation, need the directional velocity of two steering wheels perpendicular to two steering wheels and rotation center
Line, the size of the speed of two steering wheels is the product of angular speed and corresponding rotation radius, and translational velocity is 0, and vector indicates i.e.:=0；ω≠0；=ω×r1；=ω×r2。
Further, rotation during mobile robot translation, from parallelogram law:=+ω×r1；
=+ω×r2。
Further, above is all that turning center is overlapped realization rotation with mobile robot center.Mobile robot flexibly turns
When Xiang Shi, i.e. turning center are not overlapped with mobile robot center, the distance of the centre distance center of rotation of mobile robot is enabled
For R, distance of the installation site of two steering wheels apart from turning center is respectively r01And r02。
Further, according to the steering angular velocity of determining turning center and mobile robot when mobile robot flexibly turns toω 0Known to:=ω 0×R；=ω 0×r01,=ω 0×r02 。
Above-mentioned is to illustrate to analyze with the four wheel mobile robot models progress for the Twin Rudders wheel drive being diagonally distributed, and steering wheel drives
Dynamic omni-directional mobile robots motion control method is not only used for this model, equally applicable for more steering wheel mobile robots.
Mobile robot more than two steering wheels is installed, mounting means is varied.But the fortune of these mobile robots
Dynamic model formula be it is identical, can be asked according to the rotation center of mobile platform, spin velocity, target velocity and steering angular velocity with
Same algorithm solves the speed of each set steering wheel and then realizes various motion modes.
The present invention is to provide a kind of steering wheels to drive omni-directional mobile robots motion control method, is to utilize kinematics theorem
It is derived by with vector compositional rule.This algorithm is realized for the mobile robot for installing two or more steering wheels
When rotation and translational velocity when translation at any angle, the steering at opposite any point and translational velocity are 0 are not 0 from
Turn.Keep steering wheel driving omni-directional mobile robots motion mode more flexible.
Detailed description of the invention
Fig. 1 is four wheel mobile robot model schematic diagrams of the Twin Rudders wheel drive being diagonally distributed；
Fig. 2 is that steering wheel drives omni-directional mobile robots translation schematic diagram；
Fig. 3 is that steering wheel drives omni-directional mobile robots rotation schematic diagram；
Fig. 4 is that steering wheel drives rotation schematic diagram during omni-directional mobile robots translation；
Fig. 5 is the velocity composite figure that steering wheel drives omni-directional mobile robots steering wheel 1；
Fig. 6 is the velocity composite figure that steering wheel drives omni-directional mobile robots steering wheel 2；
Fig. 7 is that steering wheel drives omni-directional mobile robots to flexibly turn to schematic diagram；
Fig. 8 is that steering wheel drives omni-directional mobile robots to flexibly turn to motion analysis figure；
Fig. 9 is that steering wheel drives omni-directional mobile robots motor pattern figure.
Specific embodiment
With reference to the accompanying drawings and embodiments, in order to make the objectives, technical solutions, and advantages of the present invention clearer, right
The present invention is further elaborated.Equally mainly with four wheel mobile robot models of the Twin Rudders wheel drive being diagonally distributed into
Row explanation.
Fig. 1 is the four wheel mobile robot schematic diagram of mobile platform for the Twin Rudders wheel drive being diagonally distributed, and can give expression to steering wheel
Installation site, other two support wheels are universal wheel.Since universal wheel does not influence the motion mode of mobile platform, so
Universal wheel is not drawn in later figure.
Any direction translation of mobile robot is illustrated first, Fig. 2 is mobile robot translation schematic diagram.According to
Need to input the target velocity of translation to control system, two steering wheels acquisition speed identical with target velocityWith.Again
Illustrate that speed is vector, i.e. the direction of vector is the direction being translatable, and vector field homoemorphism is the size of speed.
Steering wheel drives omni-directional mobile robots rotation schematic diagram as shown in figure 3, giving target angular velocity as neededω, by
It is fixed in the installation site of steering wheel, so r1And r2It is known.The speed of two steering wheels can be calculated,=ω×r1；=ω ×r2。
Fig. 4 is that steering wheel driving omni-directional mobile robots realize rotation schematic diagram, O in figure during translation1Point and O2Point
It is the installation site of two steering wheels respectively,WithBe respectively mobile robot rotation need velocity component and in given target angle
After speed,WithPosition and direction are known to fixation, as needed to the translational velocity that sets the goalWith target angle speed
ω is spent, according to the speed of available two steering wheel of the computing rule of kinematics theorem and vector and direction.
I.e.=ω×r1；=ω×r2。=+；=+。
To further calculatingIt is illustrated, mobile robot translational velocity as shown in Figure 5With in mobile robot one
Point O1Velocity magnitude and direction be it is determining, deflection is δ and θ respectively.We enableWithDeflection be respectively α and β.
It is known that:
| ac |=×sin(θ)；
| b c |=| e d |=×Cos(θ)；
|O1D |=×Cos(δ)；
| c e |=| b d |=×sin(δ)；
And then it obtains:
| a e |=| a c |+| c e |；
|O1E |=| O1D |-| e d |；
So:
;
;
To further calculatingIt is illustrated, Fig. 6 is the velocity composite figure of mobile robot steering wheel 2, in steering wheel 2=-,
Calculating formula known to similarly is as follows:
| f j |=×sin(θ)；
| g j |=| h i |=×cos(θ)；
|O2 I |=×cos(δ)；
| f i |=×sin(δ)；
And then it obtains:
| g h |=| i j |=| f i |-| f j |；
|O2 H |=| O2 i |+|h i|；
So:
;
;
It is calculated by the above method, can determine the speed and direction of two sets of steering wheels of mobile robot respectively, i.e., be respectively:
It is to sum up the calculating process of steering wheel driving omni-directional mobile robots rotation during translation.
It is further illustrated, when steering wheel driving omni-directional mobile robots flexibly turn to, i.e., using any point as turning
Center, as shown in Figure 7.WhereinIt is turning speed, O is turning center.From kinematics theorem=ω 0×r01,=ω 0×r02。
Fig. 8 is that steering wheel drives omni-directional mobile robots to flexibly turn to motion analysis figure, by mobile robot steering wheel installation position
L known to setting1、L2, angleΦThe angle andΩ.From kinematics theorem⊥r1；⊥r2.According to requiring to fixed angular speedω 0With turn
Curved center O, therefore r is known.Equally we enableWithDeflection be respectively α and β.
From the cosine law:
From geometrical relationship in Fig. 8:
It is known that:
α=90 °-
β=90 °+ψ
The speed of two set steering wheels of the steering wheel driving omni-directional mobile robots when flexibly turning to and direction in summary.
That is:
=ω 0×r01
α=90 °-γ
=ω 0×r02
β=90 °+ψ
It is the motion control arithmetic analytic process of a whole set of steering wheel driving omni-directional mobile robots four-wheel model in summary.Movement side
Formula is mainly as shown in figure 9, including rotation in translational motion, spinning motion, translation motion and flexibly turn to four modes, this control
Method is equally applicable to install the Large-scale Mobile robot of more set steering wheels.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of steering wheel drives omni-directional mobile robots motion control method characterized by comprising
Steering wheel, which refers to, is integrated with the integrated mechanical structure such as driving motor, steering motor, speed reducer；
Moveable robot movement mode based on steering wheel is very flexible, and the mounting means of Twin Rudders wheel and multiple steering wheels also compares certainly
By, may be mounted at the middle line on robot chassis, diagonal positions or it is unilateral horizontal and it is unilateral be vertically arranged, by adjusting each set rudder
The angle and speed of wheel can make robot realize lane change, the movement such as steering, it might even be possible to realize edge in the case where not rotating
Arbitrary point is the divertical motion of radius, has very strong flexibility；
Controller sends to the servo-driver of steering wheel and instructs, and controls two sets of steering wheels or more set steering wheel co-operatings, control move
Mobile robot carries out rotation during the translation of any direction, spinning motion, translation and flexibly turns to move.
2. a kind of steering wheel driving omni-directional mobile robots motion control method according to claim 1, it is characterised in that:
The translation of any direction；Since each set steering wheel can be turned to freely, as long as each steering wheel that covers adjusts appearance so providing direction of advance
State turns to direction of advance, and keeps speed consistent, and translation can be realized.
3. a kind of steering wheel driving omni-directional mobile robots motion control method according to claim 1, it is characterised in that:
Spinning motion；The condition of rotation is there are couple, and the mobile robot for installing two sets of steering wheels is only needed the speed of two steering wheels
It is adjusted to equal in magnitude, contrary, can be completed with the rotation of the artificial rotation center of machine, but under actual conditions, tire
Direction and the not identical abrasion that can aggravate tire of motion profile, and energy is wasted, low efficiency is turned to, so needing in robot
When rotation, two steering wheels should be adjusted to the state perpendicular with rotation center line, to the mobile robot of the more set steering wheels of installation
It is equally applicable.
4. a kind of steering wheel driving omni-directional mobile robots motion control method according to claim 1, it is characterised in that:
Rotation during translation；According to the synthesis of speed and rule is decomposed, to make robot rotation during translation, it can be by two rudders
The speed of wheel is separately disassembled into two component velocities, and a pair of of component velocity size is the product of angular speed and corresponding rotation radius, direction
Perpendicular to the line of two steering wheels and rotation center, couple is formed, robot rotation is made；A pair of of component velocity size, direction are all the same,
Robot is set to keep translation.
5. a kind of steering wheel driving omni-directional mobile robots motion control method according to claim 1, it is characterised in that:
It flexibly turns to；Since each set steering wheel can be turned to freely, so steering wheel is likely to occur various combinations, ordinary circumstance is analyzed first,
Make the vertical line of each steering wheel speed, the center of available robot divertical motion, by the directional velocity for changing each steering wheel respectively
It can determine the center of a divertical motion, robot can move in a circle around this point, then, according to required steering,
A turning center and turning velocity are provided, the steering around this point is completed in the speed of you can get it each steering wheel and direction.
6. a kind of steering wheel driving omni-directional mobile robots motion control method according to claim 2, it is characterised in that:
The speed for translating every set steering wheel for the mobile robot any direction of two sets or two sets of installation or more of steering wheel must be identical,
That is,==...==。
7. a kind of steering wheel driving omni-directional mobile robots motion control method according to claim 3, it is characterised in that:
For the spinning motion of the mobile robot of two sets or two sets of installation or more of steering wheel, need the direction of every set steering wheel perpendicular to rudder
It takes turns the line with rotation center and is directed toward direction pivots clockwise or counter-clockwise simultaneously and form couple, every set steering wheel speed should be,=ω×r1；=ω×r2；……；=ω×r n。
8. a kind of steering wheel driving omni-directional mobile robots motion control method according to claim 4, it is characterised in that:
For rotation in the movement of the mobile robot of two sets or two sets of installation or more of steering wheel, according to the synthesis of speed and rule are decomposed
Rule, will make robot rotation during translation, the speed of steering wheel can be separately disassembled into two component velocities, a pair of of component velocity
Perpendicular to the line of steering wheel and rotation center, couple is formed, car body rotation is made；A pair of of component velocity size, direction are all the same, make vehicle
Body keeps translation to advance, according to the compositional rule of vector, so respectively the speed of set steering wheel is,=+ω×r1；=+ω×r2；……；=+ω×r1。
9. a kind of steering wheel driving omni-directional mobile robots motion control method according to claim 5, it is characterised in that: right
It is flexibly turned in the mobile robot of two sets or two sets of installation or more of steering wheel, i.e., the centre of gyration and mobile robot center be not
When coincidence, enabling the distance of the centre distance turning center of mobile robot is R, and the installation site of each steering wheel is apart from center of rotation
Distance respectively r01, r02... ..., r0n, it is desirable that steering wheel driving omni-directional mobile robots steering angular velocity beω 0, so every set rudder
Perpendicular to the line of steering wheel and turning center, speed is in the direction of wheel speed,=ω 0×r01；=ω 0×r02；……；=ω 0×r0n 。
10. a kind of steering wheel driving omni-directional mobile robots motion control method, feature according to claim 6 to 9
Be: steering wheel drives omni-directional mobile robots, for the mobile robot of two sets or two sets of installation or more of steering wheel, completes the process
Afterwards, the installation site of steering wheel is fixed, the motor pattern of mobile robot be it is identical, can be according in the rotation of mobile robot
When the heart, target velocity and target angular velocity ask mobile robot to be translatable, when rotation, rotation and opposite any point during translation
The size and Orientation of the speed of each set steering wheel when steering.
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| CN110851775A (en) * | 2019-10-31 | 2020-02-28 | 江苏大学 | Motion analysis method of Mecanum wheel all-directional mobile platform |
| CN111308884A (en) * | 2019-10-18 | 2020-06-19 | 江苏金陵智造研究院有限公司 | Multi-steering wheel cooperative control method for omnidirectional moving AGV |
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| CN114265413A (en) * | 2021-12-30 | 2022-04-01 | 深圳创维数字技术有限公司 | Vehicle control method, apparatus, and computer-readable storage medium |
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| CN113110477A (en) * | 2021-04-26 | 2021-07-13 | 广东利元亨智能装备股份有限公司 | Movement control method, device, system, controller and wheeled mobile equipment |
| CN114265413A (en) * | 2021-12-30 | 2022-04-01 | 深圳创维数字技术有限公司 | Vehicle control method, apparatus, and computer-readable storage medium |
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Application publication date: 20190517 |