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为了验证红外传感器作为姿态检测的可行性,又能满足经济性要求,设计了一种基于红外传感器的两轮桌面式小型机器人WillBot-Ⅱ,此机器人通过红外传感器检测与地面之间的距离来达到姿态检测的目的,此种方法大大节约了传感器的成本,同时克服了零点漂移现象,能够有效准确地对姿态进行检测。首先介绍了机器人的系统构成,包括机械结构部分、电气结构部分和控制部分。使用牛顿力学方法对机器人进行了动力学建模,在建模过程中充分考虑系统中可能存在的不确定性及噪声,之后对机器人的数学模型进行了线性化处理,并建立了状态空间方程。用LQR方法对机器人分别进行了系统仿真和实物的控制,仿真结果和实物控制结果证明了机器人物理系统和控制方法的合理性与有效性。
In order to verify the feasibility of the infrared sensor as gesture detection and meet the economic requirements, a two-wheel desktop small robot WillBot-Ⅱ based on infrared sensor is designed. The robot detects the distance from the ground by the infrared sensor The purpose of gesture detection, this method greatly saves the cost of the sensor, while overcoming the zero drift phenomenon, can effectively and accurately detect the attitude. First introduced the robot’s system composition, including the mechanical structure part, the electrical structure part and the control part. Newton mechanics is used to model the dynamics of the robot. The uncertainties and the noise in the system are fully considered in the modeling process. Then the mathematical model of the robot is linearized and the state space equation is established. The LQR method was used to simulate the robot and control the robot in-kind. The simulation results and the actual control results proved the rationality and effectiveness of the robot’s physical system and control method.