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针对一种自行车机器人进行了运动学分析,得到了机器人横滚角度与车把转角和驱动速度之间的函数关系.从理论上给出了能调整机器人平衡所需要的驱动速度下界,只要驱动速度高于此临界值,就能通过调整车把保持车体平衡.仿真结果表明,当机器人具有不同横滚角度和车把转角的姿态时,要将其调整回平衡态所需的驱动速度处于以该临界值为下限的一个区间.基于这种运动学关系,进行了运动控制实验.通过将横滚角度理论计算值与实验数据进行对比,发现这两者基本一致,从而通过实验验证了所提出运动学分析的正确性.
A kinematic analysis of a bicycle robot is carried out and the relationship between the robot roll angle and the handlebar angle and the driving speed is obtained.A theoretical lower bound of the driving speed that can be used to adjust the robot balance is given as long as the driving speed Above this critical value, the body balance can be adjusted by adjusting the handlebars.The simulation results show that when the robot has different attitude of roll angle and handlebar corner, the driving speed needed to be adjusted back to equilibrium is in The critical value is a range of the lower limit.According to this kinematic relationship, the motion control experiment is carried out.Compared with the experimental data, the calculated value of the roll angle is found to be basically the same, and the proposed method is validated by experiments Kinematic analysis of the correctness.