| 双轮驱动式移动机器人动力学控制 |
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| 引用本文： | 吴克河,李为,柳长安,李国栋.双轮驱动式移动机器人动力学控制[J].宇航学报,2006,27(2):272-275. |
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| 作者姓名： | 吴克河 李为 柳长安 李国栋 |
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| 作者单位： | 华北电力大学,计算机科学与技术学院,北京,102206 |
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| 基金项目： | 华北电力大学校科研和教改项目 |
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| 摘 要： | 双轮驱动式移动机器人是由一个移动平台和两个独立驱动的驱动轮组成的,本文提出了双轮驱动式移动机器人的动力学控制算法.首先推导出双轮驱动式移动机器人的运动学模型,其次推导出双轮驱动式移动机器人的动力学模型,并给出基于该模型的动力学控制算法,最后用计算机仿真实验验证了该算法的正确性.仿真实验结果表明,利用该算法可以通过控制机器人两个驱动轮的驱动力矩来实现控制机器人按给定的轨迹运动,同时也能实现机器人方向角的改变.该算法很好地解决了双轮驱动式移动机器人系统的动力学控制问题.
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| 关 键 词： | 移动机器人 双轮驱动 动力学控制 |
| 文章编号： | 1000-1328（2006）02-0272-04 |
| 收稿时间： | 04 21 2005 12:00AM |
| 修稿时间： | 2005-04-212005-09-27 |
Dynamic Control of Two-Wheeled Mobile Robot |
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| WU Ke-he,LI Wei,LIU Chang-an,LI Guo-dong.Dynamic Control of Two-Wheeled Mobile Robot[J].Journal of Astronautics,2006,27(2):272-275. |
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| Authors: | WU Ke-he LI Wei LIU Chang-an LI Guo-dong |
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| Institution: | School of Computer Science and Technology, North China Electric Power University, Beijing 102206, China |
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| Abstract: | The two-wheeled mobile robot is made up of a mobile platfornl and two independent drive wheels. This paper presents the dynamic control algorithm of a two-wheeled mobile robot. First, the kinematic modeling of a two-wheeled mobile robot is introduced. Then. the dynamic modeling of a two-wheeled mobile robot is introduced and the dynamic control algorithm based on the modeling is presented. Finally, the effectiveness of the algorithm is verified by computer simulation. The result of simulation indicate the algorithm can actualize track movement of robot through controlling driving torques of two wheels and change the direction corner of robot simultaneously. This algorithm can solve the dynamic control problem of two-wheeled mobile robot preferably. |
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| Keywords: | Mobile robot Two-wheeled Dynamic control |
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