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Research on Four-wheel Robot Modeling Stay in Contact with the Ground and Controlling Technology

Author: GuBiao
Tutor: WangXiangJun
School: Tianjin University
Course: Measuring Technology and Instruments
Keywords: Four reconfigurable robot Semi-active suspension Stability Four ground model Master-slave control
CLC: TP242
Type: Master's thesis
Year: 2010
Downloads: 132
Quote: 1
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Abstract


This project to build four reconfigurable robot mobile platform The robot can be reconstructed suspension four maintained , thus increasing the stability of the robot non-institutional environment to achieve obstacle clearance requirements . This article focuses on the four reconfigurable robot to model and control method for conducting research in reconfigurable suspension structure , kinematics analysis, stability evaluation method , forward to model and control, embedded control system design for practical the design method . By the unstructured ground robot mechanical structure and equilibrium structure at home and abroad , combined with the needs of this project , the design of the the robot four semi-active suspension structure in parallel , analysis of the characteristics and advantages of this structure . Movement as a multi- branched structure , the four - wheeled robot motion with time-varying topology , or a redundant drive system , the need to establish a simple and effective real-time walking robot kinematics model . Restricting the robot widely major problem is the problem of stability , the stability and immunity For accurate assessment of the four - wheeled robots , the subject tries to seek a more general stability evaluation method to create the interference term , the center of gravity the height of the support surface attitude and robot quality parameters and the relationship of the stability margin , provides a basis for a comprehensive evaluation of robot stability . When the road surface elastic deformation or the robot set foot obstacles , pure position control will lead to the absolute height of the body to reduce or attitude change . Four robots in addition to to meet the stability of the center of gravity forward , but also to meet the body's balance . The issues to improve the stability of the robot on the basis of wheel force feedback control , the use of four to model simple and practical control strategy to achieve the unity of the robot stability and balance . Finally, multi- processor master-slave control architecture , the peripheral interface circuit and interface program . The same time to carry out the basic reconstruction gesture and non - flat road four-wheel experiment to test the robot design and theoretical analysis .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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