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介绍了一种汽车底盘探伤机器人的系统结构,建立了机器人运动状态方程,设计了解耦控制器。该机器人使用全向轮运动机构,以无线摄像系统实现底盘图像采集并进行传输,采用自抗扰控制器进行运动控制。仿真实验验证了该机器人具有使用范围广、平台移动灵活、运动状态平稳的特点,可有效弥补传统探伤方法的不足。建立的四轮式全向移动机器人运动状态方程,以及采用的自抗扰控制方法,对于其他相关研究具有一定的借鉴意义。
This paper introduces the system structure of a car chassis inspection robot, establishes the equations of motion state of the robot, and designs the decoupling controller. The robot uses omnidirectional wheel motion mechanism to wireless camera system to achieve chassis image acquisition and transmission, automatic disturbance rejection controller for motion control. The simulation experiment verifies that the robot has the characteristics of wide range of use, flexible platform movement and steady state of motion, which can effectively make up for the deficiency of the traditional detection methods. The equation of motion state of four-wheeled omnidirectional mobile robot and the self-disturbance rejection control method are established, which have certain reference significance for other related researches.