轮式机器人越台阶控制与仿真

©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(,230027):Rocker2bogie,,,,,,MATLAB,:;;;;:TP802:A:1001-2354(2007)01-0013-03,,:,[1],[2],[3]Rocker2bogie[4,5],Rocker2bogie11,6,Rocker2bogie,,,bogie,RockerRocker,2Rocker2bogie63:,,,2.12a2N(Nf,Nm,Nr),T(Tf,Tm,Tr),(1,2)Rockerbogieux,G,xAux,l1,l2,l3,R:(1)6,4,N,T(1),2b,,2b,,N,T:(1)N0,;(2)TMmax/R;(3)T/N(=24120071JOURNALOFMACHINEDESIGNVol.24No.1Jan.20073:2006-06-01;:2006-09-11:(1979-),,,,:©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.©1994-2010ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.(1)(3)(2),,,[1]ChugoD,KawabataK,KaetsuH.Stepclimbingomnidirectionalmo2bilerobotwithpassivelinkages[C].SPIEInternationalSymposiumonOptomechatronicTechnologies,December2005:6052-21[2],,.[J].,2005,35(4):506-511.[3],.[J].,2004,26(4):301-305.[4]MahmoudTarokh,GregoryJMcDermott.KinematicsmodelingandAnalysesofarticulatedrovers[J].IEEETransactionsonRo2botics,2005,21(4):539-553.[5],,.[J].,2003,24(5):456-462.[6],.[M].:,1999.[7].MATLAB[M].:,2005.[8],,.[M].:,2005.ControlandsimulationongettingoverflightofstepsforwheeledrobotCHENShi2rong,XUMin,WANGYi2ping,YANGJie(DepartmentofPrecisionMachineryandPrecisionInstru2ment,ChinaUniversityofScienceandTechnology,Hefei230027,China)Abstract:Utilizingthestrongsuitabilityforcomplicatedto2pographypossessedbyrocker2bogiesuspensionmobilesystemappliedtomobilerobot,andbymeansofthequasi2staticsequa2tionestablishedwhiletherobotisgettingoverthesteps,thevariationofforceacceptanceofeachwheelindifferentstepsofobstacleoversteppingwasanalyzedandtheconstraintconditionswerebuiltforensuringtherobottogetontothestepsmoothlyandsafely.Usingthequadraticplanningmethodtooptimizetheoutputmomentsofeachwheelsoastoleteverywheeltomoveharmoniouslyandavoidingtheoccurrenceofunsteadysituation.SimulationwasmadebymeansofMATLABsoftware,andtheresultofsimulationwaspresented.Keywords:robot;obstacleoverstepping;momentoptimi2zation;control;simulationFig7Tab0Ref8JixieSheji63152007,,,:ISSN1001-2354:CN12-1120/TH:6-59::A4:72:8.00:96.00::,:15:300091:[phone]:[phone]E-mail:[e-mail]5120071,: