Trajectory Tracking Control System of Robot based on Slip Dynamics Model

Yin Hesheng; Zhang Qiuju; Ning Meng

doi:10.16578/j.issn.1004.2539.2018.04.001

您当前的位置：

首页 >

文章列表页 >

Trajectory Tracking Control System of Robot based on Slip Dynamics Model

更新时间：2022-10-20

- Trajectory Tracking Control System of Robot based on Slip Dynamics Model
- Vol. 42, Issue 4, Pages: 1-6(2018)
- 作者机构：
  
  1. 江南大学机械工程学院
  2. 江苏省食品先进制造装备技术重点实验室
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2018.04.001
  CLC：
扫描看全文
[1]阴贺生,张秋菊,宁萌.基于滑动动力学模型的机器人轨迹跟踪控制[J].机械传动,2018,42(04):1-6.

Yin Hesheng, Zhang Qiuju, Ning Meng. Trajectory Tracking Control System of Robot based on Slip Dynamics Model. [J]. 42(4):1-6(2018)
[1]阴贺生,张秋菊,宁萌.基于滑动动力学模型的机器人轨迹跟踪控制[J].机械传动,2018,42(04):1-6. DOI： 10.16578/j.issn.1004.2539.2018.04.001.

Yin Hesheng, Zhang Qiuju, Ning Meng. Trajectory Tracking Control System of Robot based on Slip Dynamics Model. [J]. 42(4):1-6(2018) DOI： 10.16578/j.issn.1004.2539.2018.04.001.

摘要

针对三轮全向移动机器人在运动过程中产生的滑动现象,提出一种基于滑动动力学模型的轨迹跟踪控制方法。在三轮全向移动机器人运动学以及动力学建模的基础上,通过分析轮毂滚动方向和滚子滚动方向上的车轮接触摩擦力,提出了一种滑动动力学模型,并将该模型引入三轮全向移动机器人闭环运动控制系统,以提高其轨迹跟踪控制精度。在Matlab/Simulink平台上进行轨迹跟踪控制仿真。结果表明,基于滑动动力学模型的三轮全向移动机器人运动控制系统具有较好的稳定性和准确性。

Abstract

For three-wheeled omni-directional mobile robots that slipping is almost inherently encountered in motion,one suitable trajectory tracking control system based on a improved dynamical model with slip is proposed based,which gives more accurate control result. The kinematics model and dynamics model for omni-directional mobile robots are built. By analyzing the wheel contact friction forces both in the wheel hub rolling direction and in the roller rolling direction,an amendatory dynamics model is presented. This model is introduced into the closed trajectory tracking control system to solve the trajectory tracking problem. The simulation of trajectory tracking control system is carried out on the platform of Matlab/Simulink. The results indicate that the trajectory tracking control system of three-wheeled omni-directional mobile robots based on the improved dynamical model with slip has good stability and accuracy.

关键词

滑动轨迹跟踪动力学模型机器人

Keywords

SlipTrajectory trackingDynamics modelRobot

references

Views

258

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Trajectory Tracking Control of Mecanum Wheels Mobile Platform Based on MPC

Neural Sliding Mode Adaptive PD Tracking Control of Omnidirectional Mobile Robots

Design, Analysis and Implementation of Rectangular Variable Cross-section Pipe Film Placing Robots in Nuclear Power Plant

Design and Motion Analysis of a Transformable Wheeled-Clawed Flexible Mechanism for Robots

Research on Dynamic Wear of Non-circular Gear Transmission Based on the Time-varying Meshing Force

Related Author

No data

Related Institution

Key Institute of Robotics of Zhejiang Province

School of Automation and Electrical Engineering, Zhejiang University of Science and Technology

National Engineering Laboratory of Energy-saving Motor & Control Technique, Anhui University

School of Electrical Engineering and Automation, Anhui University

CGNPC Inspection Technology Co., Ltd.

⁰