双偏心质量块驱动球形机器人直线运动控制.pdfVIP

第 47 卷第 11 期 机 械 工 程 学 报 Vol.47 No.11 2 0 1 1 年 6 月 JOURNAL OF MECHANICAL ENGINEERING Jun. 2 0 1 1 DOI ：10.3901/JME.2011.11.001 双偏心质量块驱动球形机器人的直线运动控制* 赵 勃 王鹏飞 孙立宁 李满天 (哈尔滨工业大学机器人技术与系统国家重点实验室 哈尔滨 150080) 摘要：设计一种双偏心质量块驱动的球形机器人，运动时球体同时受到内部驱动单元产生的偏心力和惯性力的作用。由于独 特的球形外壳与地面之间近似点接触，机器人在动静状态转换过程中，摩擦阻力无法抵消因内部驱动单元微小的运动误差而 带来的机器人运动状态的改变。为了使球形机器人直线运动能够平稳启停且速度可控，研究一种双偏心质量块驱动球形机器 人的直线运动控制方法。基于拉格朗日方程建立直线运动的动力学模型，分析动力学参数之间的关系，提出一种基于高斯函 数的平滑轨迹直线运动控制方法，通过仿真从理论上验证控制方法的正确性。设计直线运动反馈控制器以保证实际控制信号 精确跟踪期望值，通过仿真和样机试验验证控制器的有效性。 关键词：球形机器人 双偏心质量块 动力学 反馈控制 中图分类号：TP242 Linear Motion Control of Two-pendulums-driven Spherical Robot ZHAO Bo WANG Pengfei SUN Lining LI Mantian (State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080) Abstract ：A spherical robot driven by two pendulums is designed, which is actuated by both the eccentric force and the inertial force generated by the inner drive unit when the robot is in motion. Because of the point contact between spherical shell and ground, the friction cannot counteract the change of motion state caused by motion error of inner drive unit when the robot is in a switching process between static configuration and dynamic configuration. A linear motion control method of two-pendulums-driven spherical robot is studied for the stable start-stop and speed control. The dynamic model of linear motion is constructed by Lagrange equation. A Gaussian function based smooth trajectory control method for linear motion is proposed through analysis of the relationship among dynamic parameters, and the correctness of the method is verified theoretically by simulation. A feedback controller of linear motion is designed to guarantee the accurate tracking of the expected va