徐贺, 刘星, 张振宇, 伏虎. 铰接式五轮移动机器人接地角估计及滑转测量[J]. 机器人, 2013, 35(2): 208-217. DOI: 10.3724/SP.J.1218.2013.00208
引用本文: 徐贺, 刘星, 张振宇, 伏虎. 铰接式五轮移动机器人接地角估计及滑转测量[J]. 机器人, 2013, 35(2): 208-217. DOI: 10.3724/SP.J.1218.2013.00208
XU He, LIU Xing, ZHANG Zhenyu, FU Hu. Contact Angle and Slippage Estimation of an Articulated Mobile Robot with Five Wheels[J]. ROBOT, 2013, 35(2): 208-217. DOI: 10.3724/SP.J.1218.2013.00208
Citation: XU He, LIU Xing, ZHANG Zhenyu, FU Hu. Contact Angle and Slippage Estimation of an Articulated Mobile Robot with Five Wheels[J]. ROBOT, 2013, 35(2): 208-217. DOI: 10.3724/SP.J.1218.2013.00208

铰接式五轮移动机器人接地角估计及滑转测量

Contact Angle and Slippage Estimation of an Articulated Mobile Robot with Five Wheels

  • 摘要: 对一种铰接式移动机器人穿越崎岖地面时的运动学进行了建模和分析.推导了基于轮式机器人的完整6自由度运动模型, 对各个与地面接触的轮子分别进行了微分运动学推导.在推导过程中,考虑了前后倾角及侧倾角.之后,给出了正向和 逆向运动学模型.在这个过程中,考虑到了车轮地形接触角度和车体打滑的存在.因此在刚体运动特点的基础上,根据 各个部分之间的速度关系,做出了接触角估计.并在车体上安装一个被动式的第5轮,根据其运动学模型,提出了一 种滑转估计方法.分别在崎岖地形和沙地上进行了实验验证,证实了本文提出的接触角和滑转估计方法的有效性.

     

    Abstract: A general approach to kinematics modeling and analysis of articulated mobile robots traversing uneven terrain is described. Taking caster and camber into consideration, a full 6 DOF (degree of freedom) motion model is derived for a wheeled robot, and differential kinematics is derived for individual wheels in contact with ground. Then, forward and inverse kinematics models are given. During this process, slipping and wheel-terrain contact angle are considered. Based on the characteristics of rigid body movement, the contact angle is estimated according to the relationship of velocity of components. A passive fifth wheel is installed on the robot, and a slippage estimation method is given based on its kinematics model. Experiments on uneven terrain and sandlot are carried out to verify the effectiveness of the proposed contact angle and slippage estimation method.

     

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