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以具有平衡摇臂机构的移动机器人为研究对象,设计一种基于非线性规划遗传算法的姿态控制算法,提高越障过程中工作平台的平稳性。首先简化平衡摇臂机构并定义表征机器人空间状态的姿态参数。利用空间机构学位姿变换方程推导出所定义的空间姿态参数与轮心相对位置之间的数学关系。然后设计非线性规划遗传算法,以机器人稳定性条件为约束设计遗传算法适应度函数并求解目标姿态控制参数。为验证所设计的姿态控制算法,在ADAMS软件中搭建移动机器人模型和障碍路面模型,并联合Matlab/Simulink对机器人进行了运动学仿真。仿真结果表明在该姿态算法的控制下,与不施加主动姿态控制相比较,机器人通过搭建的障碍路面时最大侧倾角由10.8°降低到了1.8°,质心高度变化范围由96.4mm降低到了34.9mm,证明了姿态控制算法的有效性。
Taking a mobile robot with a balanced rocker mechanism as a research object, an attitude control algorithm based on nonlinear programming genetic algorithm is designed to improve the stability of the working platform during the obstacle avoidance process. First, it simplifies balancing the rocker mechanism and defines the attitude parameters that characterize the state of the robot. The mathematical relationship between the defined spatial attitude parameters and the relative positions of the wheel centers is deduced by using the space-unit-based attitude-shift equation. Then, a non-linear programming genetic algorithm is designed to design the genetic algorithm fitness function and the target attitude control parameters with the constraints of the robot stability conditions. In order to verify the designed attitude control algorithm, a mobile robot model and a barrier pavement model are built in ADAMS software, and the kinematics simulation of the robot is carried out with Matlab / Simulink. The simulation results show that under the control of the attitude algorithm, the maximum roll angle decreases from 10.8 ° to 1.8 ° and the height of the center of mass decreases from 96.4mm to 34.9mm compared with the case without active attitude control. The effectiveness of attitude control algorithm is proved.