基于Shannon小波的报幕机器人轨迹控制

doi:10.3724/SP.J.1218.2012.00380

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刘鹏玉, 何永义, 方明伦, 李军. 基于Shannon小波的报幕机器人轨迹控制[J]. 机器人, 2012, 34(3): 380-384.DOI: 10.3724/SP.J.1218.2012.00380. LIU Pengyu, HE Yongyi, FANG Minglun, LI Jun. Trajectory Control of Announcer Robot Based on Shannon Wavelets. ROBOT, 2012, 34(3): 380-384. DOI: 10.3724/SP.J.1218.2012.00380.

摘要针对报幕机器人提出了基于小波采样理论的轨迹控制方法．首先，建立了轮式报幕机器人运动学模型，并给出了运动学约束．然后，基于Shannon小波采样理论，构建了小波抽样函数．并根据机器人报幕时的行走轨迹，给出了三次样条曲线轨迹控制方法．通过实验证明该方法简单、可靠，成功实现了轨迹控制．

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	刘鹏玉
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关键词 ：小波, 轨迹控制, 轮式机器人

Abstract：Based on wavelets sampling theory, a trajectory control method is proposed for controlling the trajectory of an announcer robot. At first, the kinematics model of the wheeled announcer robot is established, and the kinematic constraints are deduced. And then, the wavelet sampling function is constructed based on Shannon wavelets sampling theory. Furthermore, according to the track along which the announcer robot moves, a trajectory control method for cubic spline trajectory is presented. Experiments show that the proposed method is simple but reliable, and that the trajectory of the robot is controlled successfully.

Key words： wavelet trajectory control wheeled robot

收稿日期: 2011-11-16 录用日期: 2012-03-19

TP24

基金资助:国家863计划资助项目（2007AA041604）；上海市科委重点项目（07DZ05805）

通讯作者: 刘鹏玉 E-mail: pengyul@shu.edu.cn

链接本文:

https://robot.sia.cn/CN/10.3724/SP.J.1218.2012.00380 或 https://robot.sia.cn/CN/Y2012/V34/I3/380

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