CN114954501A - Omnidirectional mobile robot and kinematics resolving and control method and device thereof - Google Patents

Omnidirectional mobile robot and kinematics resolving and control method and device thereof Download PDF

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Publication number
CN114954501A
CN114954501A CN202210762728.2A CN202210762728A CN114954501A CN 114954501 A CN114954501 A CN 114954501A CN 202210762728 A CN202210762728 A CN 202210762728A CN 114954501 A CN114954501 A CN 114954501A
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mobile robot
type active
decoupling type
angle
omnidirectional mobile
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Inventor
郑天江
李齐
刘强
杨桂林
张驰
邵兵兵
李宁博
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Ningbo Institute of Material Technology and Engineering of CAS
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Ningbo Institute of Material Technology and Engineering of CAS
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Priority to CN202210762728.2A priority Critical patent/CN114954501A/en
Publication of CN114954501A publication Critical patent/CN114954501A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
    • B60W2050/0005—Processor details or data handling, e.g. memory registers or chip architecture

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Power Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses an omnidirectional mobile robot, a kinematics resolving and controlling method and a device thereof. The calculation and control method comprises the following steps: 1) resolving to obtain a target deflection angle of the decoupling type active universal caster; 2) acquiring an actual deflection angle of the decoupling type active universal caster; 3) calculating the deviation angle between the target deflection angle and the actual deflection angle; 4) and when the absolute value of the deviation angle is more than pi/2, the decoupling type driving universal caster is deflected to the target deflection angle at a preset deflection speed in advance for a preset duration. The kinematics calculation and control method of the omnidirectional mobile robot controls the decoupling type active universal caster to deflect at the preset deflection speed in advance by judging the size of the deviation angle needing to deflect, avoids the situation that wheels of the mobile robot suddenly turn or the control direction is inaccurate, and further avoids the precision reduction or vibration of the omnidirectional mobile robot.

Description

Omnidirectional mobile robot and kinematics resolving and control method and device thereof
Technical Field
The invention belongs to the technical field of robots, relates to a decoupling type omnidirectional mobile robot, and particularly relates to an omnidirectional mobile robot, a kinematics resolving and controlling method and device thereof.
Background
Compared with the traditional mobile robot, the decoupling type omnidirectional mobile robot can realize the function of omnidirectional movement, has the characteristics of high flexibility, capability of moving in different narrow areas and the like, and is widely applied to the fields of warehouse logistics, mechanical manufacturing, military and the like.
Unlike a conventional mobile robot, in order to realize omnidirectional movement, the robot of this type generally realizes omnidirectional movement by adjusting the yaw orientation of each wheel on the chassis, which is achieved by kinematic solution.
When the kinematics solution is carried out on the robot, a singular phenomenon can occur at partial positions, namely when the speed space of the mobile robot is mapped to the joint space, the joint space has multiple solutions, if the kinematics solution is not properly selected, the mobile robot can suddenly turn wheels or control the direction inaccurately, and the accuracy of the mobile robot is reduced or vibration occurs. Therefore, how to avoid the above phenomena is a technical problem to be solved in the art.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an omnidirectional mobile robot, a kinematics calculation and control method and a device thereof.
In order to achieve the purpose, the technical scheme adopted by the invention comprises the following steps:
in a first aspect, the present invention provides a kinematics calculation and control method for an omnidirectional mobile robot, where the omnidirectional mobile robot includes a plurality of decoupled active casters, and the kinematics calculation and control method includes:
1) resolving to obtain a target deflection angle of the decoupling type active universal caster;
2) acquiring an actual deflection angle of the decoupling type active universal caster;
3) calculating a deviation angle between the target deflection angle and an actual deflection angle;
4) and when the absolute value of the deviation angle is more than pi/2, the decoupling type driving universal caster is deflected to the target deflection angle at a preset deflection speed in advance for a preset duration.
In a second aspect, the present invention further provides a kinematics calculation and control apparatus for an omnidirectional mobile robot, including a memory and a processor, where the memory stores a computer program, and the computer program is executed by the processor to perform the steps of the kinematics calculation and control method.
In a third aspect, the invention further provides an omnidirectional mobile robot, which comprises a robot chassis, a decoupling type active universal caster and the kinematics resolving and controlling device;
the decoupling type active universal caster is arranged on the robot chassis, can be controlled by the kinematics resolving and controlling device, and deflects and rolls relative to the robot chassis.
Based on the technical scheme, compared with the prior art, the invention has the beneficial effects that at least:
the kinematics calculation and control method of the omnidirectional mobile robot controls the decoupling type active universal caster to deflect at the preset deflection speed in advance by judging the size of the deviation angle needing to deflect, avoids the situation that wheels of the mobile robot suddenly turn or the control direction is inaccurate, and further avoids the precision reduction or vibration of the omnidirectional mobile robot.
The above description is only an overview of the technical solutions of the present invention, and in order to enable those skilled in the art to more clearly understand the technical means of the present invention and to implement the technical means according to the content of the description, the following description is made with reference to the preferred embodiments of the present invention and the accompanying detailed drawings.
Drawings
FIG. 1 is a schematic structural diagram of a decoupled active caster provided in an exemplary embodiment of the present invention;
fig. 2 is a schematic structural diagram of an omnidirectional mobile robot provided in an exemplary embodiment of the present invention;
fig. 3 is a flowchart illustrating a method for resolving and controlling kinematics of an omnidirectional mobile robot according to an exemplary embodiment of the present invention;
description of reference numerals: 10. a wheel carrier; 11. a pedestal; 12. a roller; 13. a steering drive motor; 14. a rolling drive motor; 15. a differential mechanism;
20. a robot chassis.
Detailed Description
In view of the deficiencies in the prior art, the inventor of the present invention has made extensive research and practice to propose a technical solution of the present invention, which can be summarized as: and establishing an inverse kinematics model of the decoupling type omnidirectional mobile robot, wherein the model is simple and clear in calculation and lays a foundation for a subsequent control method. After the working space speed is obtained, predicting the angles of the four casters to the target position according to inverse kinematics; when the difference angle between the predicted position and the actual deflection position is larger than pi/2, and the steering speed of the active universal caster is within a set limit range, a smaller speed is sent to the active universal caster deflection motor in advance to enable the active universal caster deflection motor to steer in advance, so that the situation that the deflection motor suddenly steers under the condition of higher speed is avoided, and the possibility that the mobile robot suddenly vibrates is reduced. The technical solution, its implementation and principles, etc. will be further explained as follows.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein, and thus the scope of the present invention is not limited by the specific embodiments disclosed below.
Moreover, relational terms such as "first" and "second," and the like, may be used solely to distinguish one element or method step from another element or method step having the same name, without necessarily requiring or implying any actual such relationship or order between such elements or method steps.
Referring to fig. 1 to 3, an embodiment of the present invention provides a kinematics calculation and control method for an omnidirectional mobile robot, where the omnidirectional mobile robot includes a plurality of decoupled active universal casters, and the kinematics calculation and control method includes the following steps:
1) and resolving to obtain a target deflection angle of the decoupling type active universal caster.
2) And acquiring the actual deflection angle of the decoupling type active universal caster.
3) And calculating the deviation angle of the target deflection angle and the actual deflection angle.
4) And when the absolute value of the deviation angle is greater than pi/2, enabling the decoupling type active universal caster to deflect towards the target deflection angle at a preset deflection speed in advance for a preset time length, wherein the preset time length is (the absolute value of the deviation angle-pi/2)/the preset deflection speed.
The kinematics calculation and control method is mainly used for improving the motion stability of the decoupling type active universal caster with offset, and of course, as follows, the method can also be used for the decoupling type active universal caster without offset, the omnidirectional mobile robot adopts at least two decoupling type active universal casters, and as some specific application examples, the kinematics algorithm can include: establishing an inverse kinematics model of the omnidirectional mobile robot according to the omnidirectional mobile robot with caster wheel offset, and calculating angles of the four caster wheels reaching a target position according to the inverse kinematics model; and when the deviation between the calculated theoretical target position and the actual current position of the caster is greater than pi/2, sending a smaller deflection speed value according to the deviation direction to a deflection motor of the decoupling type active universal caster in advance. The prediction and control method can avoid the situation that the caster of the omnidirectional mobile robot does not deflect at low speed and the deflection wheel suddenly turns when the vehicle body runs to high speed.
When the decoupling type active universal caster deflects to a certain position, and if the angle formed by the given speed direction and the deflection direction of the current universal wheel is pi, the decoupling type active universal caster is a singular point, and the decoupling type active universal caster of the omnidirectional mobile robot can avoid the singular point in advance by the resolving and controlling method provided by the invention.
The kinematics calculation and control method provided by the invention can always ensure that the decoupling type active universal caster rotates to the opposite direction of the movement of the omnidirectional mobile robot after the omnidirectional mobile robot obtains instructions of various movement states, the method can improve the stability of the mobile robot, and the algorithm is simple and easy to implement.
In some embodiments, in step 1), a target deflection angle of the decoupled active caster may be obtained by inverse kinematics model calculation according to the current position and the target position of the omnidirectional mobile robot.
In some embodiments, the omnidirectional mobile robot may preferably include a plurality of decoupled active casters in a rectangular arrangement, and the inverse kinematics model may be calculated by a calculation method as follows:
using kinematic equations
Figure BDA0003720160790000041
Figure BDA0003720160790000042
Obtaining a solution formula for the target deflection angle
Figure BDA0003720160790000043
Wherein R represents the radius of the decoupling type active universal caster, B represents the offset distance of the decoupling type active universal caster,
Figure BDA0003720160790000044
represents the target deflection angle, Vx represents the moving speed of the omnidirectional moving robot in the x-axis direction, and V y Represents the moving speed of the mobile robot in the y-axis direction, H represents half of the mounting point spacing of the decoupling type active universal caster arranged diagonally, ω is the rotation angular velocity of the omnidirectional mobile robot, and β represents the aspect ratio of the rectangle.
In some embodiments, the offset distance B of the decoupled active caster is a non-negative value. It can be understood that, as shown in fig. 2, when the offset distance B is a positive value, for example, 5cm or 10cm, the decoupled active caster is a multi-degree-of-freedom caster with offset, and when the offset distance B is 0, the decoupled active caster is a two-degree-of-freedom caster without offset.
In some embodiments, as shown in fig. 1, the deflection angle of the decoupled active caster is controlled by a steering drive motor 13, and in step 2), the position angle of the steering drive motor 13 can be measured in real time, and the actual deflection angle can be calculated based on the position angle. The technical scheme has the advantages that the actual deflection angle of the decoupling type active universal caster wheel is indirectly reflected by measuring parameters such as the operation angle or the number of turns of the motor, other deflection angle measuring components are not required to be additionally reused for measurement, the structure is simplified, and measured data are accurate. Of course, if other requirements require that a person skilled in the art sets an additional deflection angle measurement component for measurement, the technical solution based on the same inventive concept also belongs to the protection scope of the present invention.
In some embodiments, in step 3), the deviation angle may be equal to the target deflection angle minus the actual deflection angle.
With continued reference to fig. 3, in some embodiments, step 4) further comprises the steps of:
and calculating the given deflection speed of the decoupling type active universal caster, specifically, calculating the given deflection speed of the decoupling type active universal caster through a kinematic equation.
The preset yaw rate is equal to the given yaw rate when the given yaw rate is above a yaw rate limit.
When the given yaw rate is less than a yaw rate limit, the preset yaw rate is equal to the yaw rate limit.
Based on the technical scheme, when the deviation angle is larger than pi/2 and the deflection speed of the decoupling type active universal caster wheel is smaller than a certain set value (namely the deflection speed limit value), the decoupling type active universal caster wheel can obtain a smaller steering speed in advance, so that the deflection motor of the decoupling type active universal caster wheel of the omnidirectional mobile robot obtains a fixed speed consistent with the final speed direction in advance, and the deflection wheel of the decoupling type active universal caster wheel is guided to reach the final target position in advance by the deflection speed limit value, thereby avoiding the situation of sudden steering when the decoupling type active universal caster wheel runs to a higher speed, improving the stability of the omnidirectional mobile robot and reducing the vibration of the omnidirectional mobile robot in the motion process.
In some embodiments, the yaw rate limit can be adjusted based on a motion state of the omnidirectional mobile robot.
In some embodiments, the motion state includes a forward/left state of the omni-directional mobile robot being switched to a reverse/right state, a forward/reverse state of the omni-directional mobile robot being switched to a left/right state, and the like.
In some embodiments, when the omnidirectional mobile robot is in a forward motion state and suddenly receives a command of a reverse motion state, the deflection angle pi of the decoupling type active caster wheel is just a singular point, and if the decoupling type active caster wheel is directly controlled by a given smaller deflection speed, the deflection response time of the decoupling type active caster wheel is different, so that the omnidirectional mobile robot is poor in stability. By adopting the proposed control algorithm, the singular points of the decoupling type active universal caster are pre-judged in advance, the caster is given a pre-deflection speed to avoid the singular points, and the synchronous response deflection of the decoupling type active universal casters to a target angle is realized.
Based on the technical schemes, the kinematics calculation and control method provided by the invention is suitable for all omnidirectional mobile robots with two degrees of freedom of rolling and rotating, the deflection angle pi of the decoupling type active universal caster is just a singular point, and if the existing control method is used, namely the speed control after inverse kinematics calculation is adopted, when the calculated given deflection speed is low, the deflection response time of the decoupling type active universal caster is different, the forward state of the omnidirectional mobile robot is switched to the backward state discontinuously, and the stability is poor. By adopting the control method, whether the caster moves to a singular point or not and whether the given deflection speed is smaller or not can be judged in advance, synchronous response deflection of a plurality of decoupling type active universal casters to a specified target position is realized, and the motion stability and the motion precision of the omnidirectional mobile robot are improved.
The embodiment of the invention also provides a kinematics calculation and control device of the omnidirectional mobile robot, which comprises a memory and a processor, wherein the memory stores a computer program, and the computer program is run by the processor to execute the steps of the kinematics calculation and control method in any one of the above embodiments.
With continued reference to fig. 1-2, an embodiment of the present invention further provides an omnidirectional mobile robot, including a robot chassis 20, a decoupled active caster and the kinematic resolving and controlling apparatus; the decoupling type active universal caster is arranged on the robot chassis 20, can be controlled by the kinematics calculating and controlling device, and deflects and rolls relative to the robot chassis 20.
The robot chassis 20 may be a planar chassis or a non-planar chassis, for example, a chassis having a concave-convex structure or a chassis having an arc-shaped structure, and of course, the omnidirectional mobile robot may only include the above structure, for example, a robot for carrying goods, or other components, such as a manipulator, a detector, and the like, may be continuously disposed on the chassis to implement a specific function.
In some embodiments, the decoupled active caster comprises a wheel carrier 10, an axle carrier 11, rollers 12, a steering drive motor 13, a rolling drive motor 14, and a differential 15; a first end of the shaft bracket 11 is rotatably connected to the wheel frame 10, and the roller 12 is rotatably connected to a second end of the shaft bracket 11 through a rotating shaft thereof; the steering driving motor 13, the rolling driving motor 14 and the differential 15 are fixedly arranged on the wheel carrier 10, and power output shafts of the steering driving motor 13 and the rolling driving motor 14 are in transmission connection with the rollers 12 through the differential 15.
In some embodiments, a plurality of the decoupled active caster wheels may be symmetrically mounted on the robot chassis 20.
In some embodiments, a plurality of the decoupled active caster wheels may preferably be mounted in a rectangular shape on the robot chassis 20.
As some typical application examples, with continued reference to fig. 1, a driving caster assembly of a decoupled omnidirectional mobile robot provided by the present invention mainly comprises a roller 12, a shaft bracket 11, a wheel bracket 10, a rolling driving motor 14, a steering driving motor 13 and a differential 15. The rolling driving motor 14 and the steering driving motor 13 are two servo motors respectively, and the two motors control the cooperation of two degrees of freedom of motion of the decoupling type active universal caster wheel to realize the omnidirectional movement of the whole omnidirectional mobile robot. The differential 15 has the function of decoupling the rolling and steering of the roller 12, prevents the rolling driving motor 14 from generating additional rolling output to the roller 12 when the steering driving motor 13 drives the roller 12 to steer, and is beneficial to the rolling stability of the roller 12.
The kinematics resolving and controlling device mainly comprises an encoder, a driver, a motion control card and an industrial personal computer which are connected with a rolling driving motor 14 and a steering driving motor 13. The encoders are used for reading actual position values of the rolling drive motor 14 and the steering drive motor 13; the driver receives the motion control card information instruction to control the motion of the rolling drive motor 14 and the steering drive motor 13; the motion control card receives a control algorithm in the industrial personal computer and transmits the control algorithm to the driver; the industrial personal computer is used for calculating and sending out a control instruction by a motion control algorithm and receiving information of the encoder through the driver and the motion control card, wherein the industrial personal computer can store the computer program of the kinematics calculation and control method about the omnidirectional mobile robot, and a processor in the industrial personal computer is used for executing the steps of the method.
As another typical application example, the kinematics calculation and control method of the omnidirectional mobile robot in the above technical solution may be implemented by adopting the following steps:
and establishing a kinematics equation of the omnidirectional mobile robot, and calculating a theoretical target deflection angle of each decoupling type active universal caster of the mobile robot according to a current kinematics speed instruction.
And acquiring the actual deflection angle of the current caster wheel deflection motor in real time.
And calculating the deviation between the two angles to judge the size of the deviation.
If the deviation between the two is larger than pi/2 and the current speed of the deflecting wheel is smaller, the current speed is sent to the deflecting motor at the set smaller limit speed.
And if the deviation between the current yaw speed value and the yaw speed value is greater than pi/2 and the current yaw wheel speed is greater, directly sending the yaw speed value calculated by the current kinematics to a yaw motor.
The kinematics calculation and control method provided by the previous embodiment of the invention is suitable for all decoupling type omnidirectional mobile robots with offset casters or without offset, and when any motion control instruction is received, the omnidirectional mobile platform can realize accurate and stable motion. For example, when the active caster reaches the target position and rotates by an angle greater than pi/2, in order to avoid the difference between the steering direction and the response time of the four casters, the casters are advanced to deflect towards the same direction, for example, towards the counterclockwise direction by an angle, which can successfully avoid the singular points of the casters; the control method effectively improves the motion control precision of the omnidirectional mobile robot and avoids the vibration caused by sudden turning of the caster of the mobile robot under high-speed motion.
The foregoing is a description of some preferred embodiments of the present invention, and it should be understood that the above-mentioned embodiments are merely illustrative of the technical concepts and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims (10)

1. A method for kinematics calculation and control of an omni-directional mobile robot having a plurality of decoupled active casters, the method comprising:
1) resolving to obtain a target deflection angle of the decoupling type active universal caster;
2) acquiring an actual deflection angle of the decoupling type active universal caster;
3) calculating a deviation angle between the target deflection angle and an actual deflection angle;
4) when the absolute value of the deviation angle is larger than pi/2, a preset time length is advanced to enable the decoupling type active universal caster to deflect towards the target deflection angle at a preset deflection speed, wherein the preset time length is (the absolute value of the deviation angle-pi/2)/the preset deflection speed.
2. The kinematics calculation and control method according to claim 1, wherein in step 1), a target deflection angle of the decoupled active caster is calculated by using an inverse kinematics model according to the current position and the target position of the omnidirectional mobile robot.
3. The kinematics calculation and control method according to claim 2, wherein the omnidirectional mobile robot comprises a plurality of decoupled active casters arranged in a rectangular shape, and the inverse kinematics model is calculated by using the following calculation method:
using kinematic equations
Figure FDA0003720160780000011
Figure FDA0003720160780000012
Obtaining a solution formula for the target deflection angle
Figure FDA0003720160780000013
Wherein R represents the radius of the decoupling type active universal caster, B represents the offset distance of the decoupling type active universal caster,
Figure FDA0003720160780000014
representing said target deflection angle, V x Representing the moving speed, V, of the omnidirectional mobile robot in the x-axis direction y Representing the moving speed of the mobile robot in the y-axis direction, H representing half of the mounting point interval of the decoupling type active universal caster arranged diagonally, ω being the rotation angular velocity of the omnidirectional mobile robot, and β representing the aspect ratio of the rectangle;
preferably, the value range of the offset distance B of the decoupling type active universal caster is a non-negative value.
4. The kinematics calculation and control method according to claim 1, wherein the yaw angle of the decoupled active caster is controlled by a steering drive motor, and in step 2), the position angle of the steering drive motor is measured in real time, and the actual yaw angle is calculated based on the position angle.
5. The kinematic solution and control method according to claim 1, characterized in that in step 3) the deviation angle is equal to the target deflection angle subtracted by the actual deflection angle.
6. The kinematic solution and control method according to claim 1, characterized in that step 4) further comprises:
resolving the given deflection speed of the decoupling type active universal caster through a kinematic equation;
when the given deflection speed is above a deflection speed limit, the preset deflection speed is equal to the given deflection speed;
when the given yaw rate is less than a yaw rate limit, the preset yaw rate is equal to the yaw rate limit.
7. The kinematics solution and control method according to claim 6, wherein the yaw rate limit is adjustable based on a motion state of the omnidirectional mobile robot;
preferably, the motion state includes any one or a combination of two of a forward or left state of the omnidirectional mobile robot and a reverse or right state of the omnidirectional mobile robot;
preferably, when the omnidirectional mobile robot is in a forward motion state and suddenly receives a command of a reverse motion state, the singular point of the decoupling type active caster is pre-judged in advance, a preset deflection speed is given to the decoupling type active caster to avoid the singular point, and the decoupling type active casters synchronously respond and deflect to the target deflection angle.
8. A kinematic solution and control device for an omnidirectional mobile robot, comprising a memory and a processor, the memory storing a computer program, characterized in that the computer program, when executed by the processor, performs the steps of the kinematic solution and control method according to any one of claims 1 to 7.
9. An omnidirectional mobile robot, which is characterized by comprising a robot chassis, a decoupling type active universal caster and the kinematics resolving and controlling device of claim 8;
the decoupling type active universal caster is arranged on the robot chassis, can be controlled by the kinematics resolving and controlling device, and deflects and rolls relative to the robot chassis.
10. The omnidirectional mobile robot of claim 9, wherein the decoupled active caster comprises a wheel frame, an axle frame, a roller, a steering drive motor, a rolling drive motor, and a differential;
the first end of the shaft bracket is rotationally connected to the wheel carrier, and the roller is rotationally connected to the second end of the shaft bracket through a rotating shaft of the roller;
the steering driving motor, the rolling driving motor and the differential are fixedly arranged on the wheel carrier, and power output shafts of the steering driving motor and the rolling driving motor are in transmission connection with the roller through the differential;
preferably, a plurality of the decoupling type active universal casters are symmetrically arranged on the robot chassis;
preferably, a plurality of the decoupling type active universal casters are installed on the robot chassis in a rectangular shape.
CN202210762728.2A 2022-06-29 2022-06-29 Omnidirectional mobile robot and kinematics resolving and control method and device thereof Pending CN114954501A (en)

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