两轮驱动移动机器人的运动学研究

©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(,350002):(2,0),,,,,,:;;;:TP24:B:1008-5300(2005)06-0031-04AStudyonKinematicsofTwoDrivingWheelRobotXUSong2qing,WUHai2bin,YANGXing2yu(CollegeofMechanicalEngineeringandAutomation,FuzhouUniversity,Fuzhou350002,China)Abstract:Inthispaper,themechanicalstructureof(2,0)typewheeledmobilerobotdesignedbyouruniver2sityisintroduced,andthemathematicalmodelofrobotkinematicsisestablished.Basedonit,thebasicmo2tionmodesofmobilerobotsuchaslinemotionandarcmotionandimplementationmethodsareanalyzedinde2tail.Theproblemoftherobotsminimummotionradiusinarcmotionmodeisdeeplydiscussed.Theinfluenceonmotionprecisionbythegear2drivenrobotisdiscussedalso,andmeasurestobetakenaresuggestedtoim2provethemotionprecisionoftherobot.Keywords:mobilerobot;kinematicmodel;mechanicalstructure;gear2driven0(WheeledMobileRobots),,,[1](WMR),,[2][4],[3][5],(2,0),,,,1(2,0)(2,0)1,,7,,C,F,,21320052162005.Vol.21No.6Electro-MechanicalEngineering3:2005-06-10:(2002J016)©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(x,y)=(x,y,)T4,BB{ˆX1,ˆX2}CB=lCB(t),r,,l,r,(t):ˆVB=ˆVC+BCBC,,ˆVB,:4rÛ=(Ûxcos+Ûysin)sin(+)-(Ûycos-Ûxsin)cos(+)-lÛcos(1)0=(Ûxcos+Ûysin)cos(+)+(-Ûxsin+Ûycos)sin(+)+lÛsin(2)I1OI2X1CY1,:R()=cossin0-sincos0001(1)(2)[1]::[-sin(+)cos(+)lcos]R()Û+rÛ=0(3):[cos(+)sin(+)lsin]R()Û=0(4)(3)(4),1(t)2(t),r,i(i1),i31(t)i32(t),i1i2(i1i2)5,Û,V1CX1,V2Y1,V3C5(2,0):V1=Ûxcos+ÛysinV2=-Ûxsin+Ûycos2321©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.=lÛ::Ûxcos+Ûysin-lÛcos=irÛ1(5):lÛsin=Ûycos-Ûxsin(6):Ûxcos+Ûysin+lÛcos=irÛ2(7)(5)(6)(7),Û1,Û2,:ÛxÛyÛ=ir2J1(,l)Û1Û2(8),J1(,l)=cos(-)coscos(+)cossin(-)cossin(+)cos-1lcos1lcos(5)(7),Ûx,Ûy,Û,Û1,Û2:Û1Û2=(ir)-1J2(,l)ÛxÛyÛ(9),J2(,l)=cossin-lcoscossinlcos(8)(9):(a)Û0,[4],;(b),,Û1,Û2,;(c)Û1,Û2,33.1,,=C(),Û=0:ÛxÛy0=ir2J1(,l)Û1Û2(10)(10)Û1=Û2,,,3.26,R,O6:ÛxÛyÛ=Vccos(-)Vcsin(-)-VcR(11)(11)(8),:Vccos(+)Vcsin(+)-VcR=ir2J1(,l)Û1Û2(12)J1(,l)(12):R=lsinsin(13)Û1Û2=Rcos(+)+lcos(+)Rcos(+)-lcos(-)(14),(13)(14),3.3,,R=0,336,:©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(13),Rmin=lsin[sin]max=lsin,(0,),Rmin,0,Rmin0Rmin=0,,,:ÛxÛyÛ=ir2J3(,l)Û1Û2(15),J3(,l)=coscossinsin-1l1l,,Ûx=Ûy=0,Û0,:00Û=ir2J3(,l)Û1Û2(16)(16)Û1=-Û2,,,,()4,,,iiii,:ÛxÛyÛ=(ii)r2J1(,l)Û1Û2=ir2J1(,l)Û1Û2i2J1(,l)Û1Û2(17)J1(,l)(17),,,,,7,,:,,8,,78,,,,,,,5,(2,0),,,,,:[1]GuyCampion,GeorgesBastin,andBrigitteDAndrea2No2vel.StructuralPropertiesandClassificationofKinematicandDynamicModelsofWheeledMobileRobots[J].IEEE,TransactionsonRoboticsandAutomation,1996,12(1).[2]SMKillough,FGpin.DesignofanOmnidirectionalandHolo2nomicWheeledPlatformDesigninProc[A].IEEEConf.Ro2boticsandAutomation[C],Nice,France,1992.84-90.[3]ChristosAlexopoulos,PaulMGriffin.PathPlanningforaMobileRobot[J].IEEE,TransactionsonSystems,ManandCybernetics,1992,22(2).[4],,.[J].,2004,26(1):49-53.[5],.[A].[C].:,2002.:(1981-),,,,4321