CN106708056A - Motion control method of four-Mecanum wheel inspection robot - Google Patents
Motion control method of four-Mecanum wheel inspection robot Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The invention discloses a motion control method of a four-Mecanum wheel inspection robot. The motion control method comprises the steps of decomposing motion of the inspection robot into three independent components; calculating axis speeds of all Mecanum wheels of the inspection robot; calculating the parallel speeds of all Mecanum wheels of the inspection robot; calculating the rotating speeds of all Mecanum wheels of the inspection robot; and controlling the inspection robot to move in a plane. According to the motion control method, the inspection robot can complete motion in any direction in the plane and does not need to rotate around a circle center, so that the motion efficiency of the inspection robot is effectively improved, the inspection robot can complete in-situ steering, transverse motion and diagonal motion at a certain angle within a smaller space, and the disadvantages in motion of common rubber tires are avoided.
Description
Technical field
The invention belongs to crusing robot movement control technology field, more particularly to a kind of four-wheel Mecanum wheel survey monitor
Device people's motion control method.
Background technology
Mobile robot compared with the robot of fixed pedestal, with bigger, more flexible working space, but simultaneous wheels
Formula motion introduces nonholonomic constraint.Used as the nonholonomic system of a quasi-representative, the calm and tracking problem of mobile robot is drawn
The extensive concern of people is played.Research one as robot research to the control strategy of nonholonomic constraint mobile robot
Focus.From after the latter stage nineties especially 2000, many researchers begin to focus on this problem, and are devoted to uncertain non-
The control research of holonomic system.The emphasis of related work is mainly model uncertainty, external interference and the letter of solution system
Number noise pollution, the practical problem such as input-bound, radius of turn be limited, carry out robust and Self Adaptive Control and the filter of correlation
The design of ripple device.The diversity of calm and tracking problem the document of the uncertain nonholonomic system of research, is primarily due to not true
Qualitative or interference employs different models, and has used different processing methods to obtain robustness or adaptability.To not
Determine that the main method that nonholonomic variations are designed has Self Adaptive Control, robust control, Robust Adaptive Control, intelligence
Can control etc..
Wheeled mobile robot is one has big delay, the complication system of nonlinearity ".Set up accurate mathematical modulo
Type is very difficult, when course tracking control is carried out.Influence of the change of parameter to system model be larger, wherein longitudinal velocity
Influence is the most obvious.The general control method of wheeled mobile robot be the actual measurement course of desired course and robot it
Between error as controller input deviation.The course of wheeled mobile robot and its longitudinal velocity, lateral velocity, front-wheel
Drift angle, robot around the rotary inertia of its center of gravity, the position of center of gravity, the lateral deviation coefficient of front and back wheel and reality road conditions etc.
Factors are all relevant, therefore, it is relatively difficult that kinetic model is set up to wheeled robot.
The content of the invention
Goal of the invention of the invention is：In order to solve problem above present in prior art, the present invention proposes one kind
Four-wheel Mecanum wheel crusing robot motion control method.
The technical scheme is that：A kind of four-wheel Mecanum wheel crusing robot motion control method, including it is following
Step：
A, the Kinematic Decomposition by crusing robot planar are X-axis translation, Y-axis translation, three independences of yaw axles rotation point
Amount；
The axis speed of B, each Mecanum wheel of calculating crusing robot；
C, the axis speed of each Mecanum wheel of crusing robot in step B is decomposed into along the parallel of roller direction
Speed and the vertical speed perpendicular to roller direction, calculate the PARALLEL VELOCITY of each Mecanum wheel of crusing robot；
D, according in step C each Mecanum wheel of crusing robot PARALLEL VELOCITY calculate crusing robot each
The velocity of rotation of Mecanum wheel；
E, according in step D each Mecanum wheel of crusing robot velocity of rotation control crusing robot in plane
Interior motion.
Further, the step B calculates the computing formula of the axis speed of each Mecanum wheel of crusing robot
Specially：
Wherein,It is the axis speed vector of Mecanum wheel,It is the geometric center velocity of crusing robot,
It is the angular speed of yaw axle rotations,It is the vector in the axle center that Mecanum wheel is pointed to from the geometric center of crusing robot.
Further, the calculating that the PARALLEL VELOCITY of each Mecanum wheel of crusing robot is calculated in the step C is public
Formula is specially：
Wherein,It is the PARALLEL VELOCITY vector of Mecanum wheel, vxIt is the axis speed of Mecanum wheel in X-direction
Velocity component, vyFor Mecanum wheel axis speed Y direction velocity component.
Further, the calculating that the velocity of rotation of each Mecanum wheel of crusing robot is calculated in the step D is public
Formula is specially：
Wherein, vωIt is the velocity of rotation of Mecanum wheel.
The beneficial effects of the invention are as follows：The present invention is three isolated components, meter by by the Kinematic Decomposition of crusing robot
The axis speed of each Mecanum wheel of crusing robot is calculated, so as to calculate each Mecanum wheel of crusing robot
Velocity of rotation；Combined by X-axis translation, Y-axis translation, the motion of three isolated components of yaw axles rotation, can allow inspection machine
People completes the motion of any direction in the plane, and crusing robot need not be allowed to be rotated around a certain center of circle, so as to effectively improve
Crusing robot sport efficiency so that crusing robot can complete to turn on the spot in smaller space, transverse shifting and according to
Certain angle diagonal movement, it is to avoid the deficiency of General Purpose Rubber tire motion.
Brief description of the drawings
Fig. 1 is four-wheel Mecanum wheel crusing robot motion control method schematic flow sheet of the invention.
Fig. 2 is the Kinematic Decomposition schematic diagram of crusing robot in the embodiment of the present invention.
Fig. 3 is the Mecanum wheel axis speed schematic diagram of crusing robot in the embodiment of the present invention.
Fig. 4 is four Mecanum wheel axis speed schematic diagrames of crusing robot in the embodiment of the present invention.
Fig. 5 is the Mecanum wheel axis speed decomposing schematic representation of crusing robot in the embodiment of the present invention.
Fig. 6 is four Mecanum wheel axis speed decomposing schematic representations of crusing robot in the embodiment of the present invention.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the present invention, not
For limiting the present invention.
As shown in figure 1, being four-wheel Mecanum wheel crusing robot motion control method schematic flow sheet of the invention.One
Four-wheel Mecanum wheel crusing robot motion control method is planted, is comprised the following steps：
A, the Kinematic Decomposition by crusing robot planar are X-axis translation, Y-axis translation, three independences of yaw axles rotation point
Amount；
The axis speed of B, each Mecanum wheel of calculating crusing robot；
C, the axis speed of each Mecanum wheel of crusing robot in step B is decomposed into along the parallel of roller direction
Speed and the vertical speed perpendicular to roller direction, calculate the PARALLEL VELOCITY of each Mecanum wheel of crusing robot；
D, according in step C each Mecanum wheel of crusing robot PARALLEL VELOCITY calculate crusing robot each
The velocity of rotation of Mecanum wheel；
E, according in step D each Mecanum wheel of crusing robot velocity of rotation control crusing robot in plane
Interior motion.
In step, each Mecanum wheel of crusing robot of the invention is made up of two large divisions：Wheel hub and roller
(roller).Wheel hub is the main body rack of whole wheel, and roller is then mounted in the drum on wheel hub.The wheel of Mecanum wheel
Hub axle is in 45° angle with roller axles.As shown in Fig. 2 being the Kinematic Decomposition schematic diagram of crusing robot in the embodiment of the present invention.This
Crusing robot is three isolated components in the Kinematic Decomposition patrolled and examined in plane by invention, respectively：X-axis translation, Y-axis translation,
Yaw axle rotations.The speed of four Mecanum wheels of crusing robot of the invention is also to be provided by four independent motors.
So four suitable speeds of Mecanum wheel are in the presence of certain restriction relation, inverse kinematics can obtain unique solution, and just
The equation that this restriction relation is not met in kinematics will be without solution.
In stepb, as shown in figure 3, for the Mecanum wheel axis speed of crusing robot in the embodiment of the present invention shows
It is intended to.The computing formula that the present invention calculates the axis speed of each Mecanum wheel of crusing robot is specially：
Wherein,It is the axis speed vector of Mecanum wheel,It is the geometric center velocity of crusing robot,
It is the angular speed of yaw axle rotations,It is the vector in the axle center that Mecanum wheel is pointed to from the geometric center of crusing robot.
The axis speed vector of Mecanum wheel is decomposed along X-direction and Y direction respectively again, is calculated Mike and is received
The axis speed vector of nurse wheel along X-direction and the component of Y direction, is expressed as respectively：
Wherein, vxFor Mecanum wheel axis speed X-direction velocity component, vyIt is the axle center of Mecanum wheel
Speed Y direction velocity component,It is crusing robot along the speed of X-direction,It is crusing robot along Y-axis side
To speed, rxForAlong the component of X-direction, ryForAlong the component of X-direction.
As shown in figure 4, being four Mecanum wheel axis speed schematic diagrames of crusing robot in the embodiment of the present invention.Root
It is the axis speed of each Mecanum wheel that can obtain crusing robot according to above-mentioned computational methods.
In step C, as shown in figure 5, being the Mecanum wheel axis speed point of crusing robot in the embodiment of the present invention
Solution schematic diagram.Be decomposed into the axis speed of each Mecanum wheel of crusing robot in step B along roller direction by the present invention
PARALLEL VELOCITY and the vertical speed perpendicular to roller direction, because the vertical speed perpendicular to roller direction is for inspection machine
The motion of people will not produce influence, therefore the present invention need to only calculate the PARALLEL VELOCITY of each Mecanum wheel of crusing robot,
Computing formula is specially：
Wherein,It is the PARALLEL VELOCITY vector of Mecanum wheel, vxIt is the axis speed of Mecanum wheel in X-direction
Velocity component, vyFor Mecanum wheel axis speed Y direction velocity component.
In step D, the present invention is calculated according to the PARALLEL VELOCITY of each Mecanum wheel of crusing robot in step C and patrolled
The velocity of rotation of each Mecanum wheel of robot is examined, computing formula is specially：
Wherein, vωIt is the velocity of rotation of Mecanum wheel.
As shown in fig. 6, being four Mecanum wheel axis speed exploded pictorials of crusing robot in the embodiment of the present invention
Figure.Wherein, a is the geometric center of crusing robot in X-direction to the distance in the axle center of Mecanum wheel, and b is in Y direction
The geometric center of crusing robot to the axle center of Mecanum wheel distance.According to the relation of a and b, Mecanum wheel is obtained
Axis speed vector along X-direction and the component of Y direction, is expressed as respectively：
So as to obtain four velocities of rotation of Mecanum wheel of crusing robot according to the motion state of crusing robot,
It is expressed as：
Wherein,It is the velocity of rotation of the Mecanum wheel 1 of crusing robot,It is the Mecanum of crusing robot
The velocity of rotation of wheel 2,It is the velocity of rotation of the Mecanum wheel 3 of crusing robot,For the Mike of crusing robot receives
The velocity of rotation of nurse wheel 4.
Omni-mobile crusing robot is a purely linear system in the present invention, and rigid motion can be with linear decomposition
Three components, therefore only need to calculate Mecanum wheel crusing robot being translated along X-axis, along Y-axis translation, around geometric center
During rotation, four speed of Mecanum wheel, it is possible to by addition, calculate translation synthesized by these three simple motions+
The rotating speed of required four wheels during rotary motion.
When crusing robot is translated along X-axis, four velocities of rotation of Mecanum wheel of crusing robot are represented
For：
When crusing robot is translated along Y-axis, four velocities of rotation of Mecanum wheel of crusing robot are represented
For：
When crusing robot is around geometric center rotation, four velocities of rotation of Mecanum wheel of crusing robot, table
It is shown as：
In step E, the present invention is patrolled according to the velocity of rotation control of each Mecanum wheel of crusing robot in step D
Inspection robot is planar moved.
The present invention is three isolated components by by the Kinematic Decomposition of crusing robot, calculates each of crusing robot
The axis speed of Mecanum wheel, so as to calculate the velocity of rotation of each Mecanum wheel of crusing robot；It is flat by X-axis
Dynamic, Y-axis translation, the motion of three isolated components of yaw axles rotation are combined, and crusing robot can be allowed to complete any side in the plane
To motion, and crusing robot need not be allowed to be rotated around a certain center of circle, so as to effectively raise crusing robot sport efficiency,
Enable that crusing robot completes steering on the spot, transverse shifting and according to certain angle diagonal movement in smaller space, it is to avoid
The deficiency of General Purpose Rubber tire motion.
One of ordinary skill in the art will be appreciated that embodiment described here is to aid in reader and understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such especially statement and embodiment.This area
Those of ordinary skill can according to these technical inspirations disclosed by the invention make it is various do not depart from essence of the invention other are each
Plant specific deformation and combine, these deformations and combination are still within the scope of the present invention.
Claims (4)
1. a kind of four-wheel Mecanum wheel crusing robot motion control method, it is characterised in that comprise the following steps：
A, the Kinematic Decomposition by crusing robot planar are X-axis translation, Y-axis translation, three isolated components of yaw axles rotation；
The axis speed of B, each Mecanum wheel of calculating crusing robot；
C, the axis speed of each Mecanum wheel of crusing robot in step B is decomposed into the PARALLEL VELOCITY along roller direction
With the vertical speed perpendicular to roller direction, the PARALLEL VELOCITY of each Mecanum wheel of crusing robot is calculated；
D, each Mike that crusing robot is calculated according to the PARALLEL VELOCITY of each Mecanum wheel of crusing robot in step C
The velocity of rotation of Na Mu wheels；
E, according in step D each Mecanum wheel of crusing robot velocity of rotation control crusing robot planar transport
It is dynamic.
2. four-wheel Mecanum wheel crusing robot motion control method as claimed in claim 1, it is characterised in that the step
The computing formula that rapid B calculates the axis speed of each Mecanum wheel of crusing robot is specially：
Wherein,It is the axis speed vector of Mecanum wheel,It is the geometric center velocity of crusing robot,It is yaw
The angular speed of axle rotation,It is the vector in the axle center that Mecanum wheel is pointed to from the geometric center of crusing robot.
3. four-wheel Mecanum wheel crusing robot motion control method as claimed in claim 2, it is characterised in that the step
The computing formula that the PARALLEL VELOCITY of each Mecanum wheel of crusing robot is calculated in rapid C is specially：
Wherein,It is the PARALLEL VELOCITY vector of Mecanum wheel, vxFor Mecanum wheel axis speed X-direction speed
Component, vyFor Mecanum wheel axis speed Y direction velocity component.
4. four-wheel Mecanum wheel crusing robot motion control method as claimed in claim 3, it is characterised in that the step
The computing formula that the velocity of rotation of each Mecanum wheel of crusing robot is calculated in rapid D is specially：
Wherein, vωIt is the velocity of rotation of Mecanum wheel.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107499892A (en) * | 2017-09-11 | 2017-12-22 | 山东洛杰斯特物流科技有限公司 | Current divider |
| CN108227598A (en) * | 2018-03-27 | 2018-06-29 | 济南大学 | A kind of clearance removal of mines robot control system moved in parallel |
| CN109531595A (en) * | 2018-12-28 | 2019-03-29 | 石家庄铁道大学 | A kind of Omni-mobile meal delivery robot and air navigation aid based on double magnetic navigations correction |
| CN110442137A (en) * | 2019-08-12 | 2019-11-12 | 北京特种机械研究所 | Mecanum wheel AGV Automatic Track Finding driving system |
| CN110442136A (en) * | 2019-08-12 | 2019-11-12 | 北京特种机械研究所 | A kind of any attitude air navigation aid of Mecanum wheel AGV |
| CN112462753A (en) * | 2020-10-20 | 2021-03-09 | 天津大学 | Kinematic modeling method of vehicle-snake combined variable structure mobile robot |
| CN113119059A (en) * | 2021-04-01 | 2021-07-16 | 武汉工程大学 | Mecanum wheel chassis control characteristic optimization method based on equal percentage characteristics |
| CN114371702A (en) * | 2021-12-17 | 2022-04-19 | 华南理工大学 | Nonlinear model prediction control method applied to visual servo |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107499892A (en) * | 2017-09-11 | 2017-12-22 | 山东洛杰斯特物流科技有限公司 | Current divider |
| CN108227598A (en) * | 2018-03-27 | 2018-06-29 | 济南大学 | A kind of clearance removal of mines robot control system moved in parallel |
| CN109531595A (en) * | 2018-12-28 | 2019-03-29 | 石家庄铁道大学 | A kind of Omni-mobile meal delivery robot and air navigation aid based on double magnetic navigations correction |
| CN110442137A (en) * | 2019-08-12 | 2019-11-12 | 北京特种机械研究所 | Mecanum wheel AGV Automatic Track Finding driving system |
| CN110442136A (en) * | 2019-08-12 | 2019-11-12 | 北京特种机械研究所 | A kind of any attitude air navigation aid of Mecanum wheel AGV |
| CN112462753A (en) * | 2020-10-20 | 2021-03-09 | 天津大学 | Kinematic modeling method of vehicle-snake combined variable structure mobile robot |
| CN112462753B (en) * | 2020-10-20 | 2024-01-30 | 天津大学 | Kinematic modeling method for car-snake composite variable structure mobile robot |
| CN113119059A (en) * | 2021-04-01 | 2021-07-16 | 武汉工程大学 | Mecanum wheel chassis control characteristic optimization method based on equal percentage characteristics |
| CN113119059B (en) * | 2021-04-01 | 2022-03-15 | 武汉工程大学 | Mecanum wheel chassis control characteristic optimization method based on equal percentage characteristics |
| CN114371702A (en) * | 2021-12-17 | 2022-04-19 | 华南理工大学 | Nonlinear model prediction control method applied to visual servo |
| CN114371702B (en) * | 2021-12-17 | 2023-11-10 | 华南理工大学 | Nonlinear model predictive control method applied to visual servo |
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