论文部分内容阅读
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.
Kinematics of an articulated mobile robot crossing a rough terrain is modeled and analyzed.A complete 6-DOF motion model based on wheeled robots is derived and differential kinematics are derived for each wheel in contact with the ground. In the process of derivation, the forward and backward inclination and roll angle are taken into account, and then the forward and backward kinematics models are given. In this process, the contact angle of the wheel topography and the slipping of the body are taken into account. Based on the velocity relationship among the parts, the contact angle estimation is made, and a passive fifth wheel is installed on the vehicle body, and a sliding estimation method is proposed according to its kinematics model. Experiments have been carried out on topography and sandy land, confirming the effectiveness of the proposed contact angle and slip estimation methods.