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Direct control method for two-wheeled robot

A control method and robot technology, applied in two-dimensional position/channel control, non-electric variable control, control/regulation system, etc., can solve problems such as low control accuracy, inability to directly and easily control, and numerous parameters, and achieve improved control The effect of precision, simple and direct design method, and few parameters

Active Publication Date: 2019-09-13
SUN YAT SEN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a direct control method for a two-wheel robot in order to overcome the defects of the robot control method in the above-mentioned prior art, which have many parameters, cannot be directly and simply controlled, and have low control precision.

Method used

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  • Direct control method for two-wheeled robot
  • Direct control method for two-wheeled robot
  • Direct control method for two-wheeled robot

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Embodiment 1

[0041] figure 1 A flow chart of a direct control method for a two-wheeled mobile robot is shown.

[0042] A direct control method for a two-wheeled robot, comprising the following steps:

[0043] S1: Determine the trajectory of the robot tracking target;

[0044] S2: Construct the robot motion equation by analyzing the motion process of the robot;

[0045] S3: constructing an error function by using the tracking target motion trajectory described in step S1 and the motion equation described in step S2, and calculating the control amount by combining the zeroing dynamics method and the gradient dynamics method;

[0046] S4: Transfer the control amount to the controller of the robot for direct control of the robot.

[0047] In this scheme, the trajectory of the robot tracking the target described in step S1 is expressed as r d =[x d ,y d ] T ,

[0048] where x d Indicates the target trajectory in the x direction, y d Indicates the target trajectory in the y direction. ...

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Abstract

The invention discloses a direct control method for a two-wheeled robot. The direct control method comprises the following steps: S1, forming a motion trail of a tracking object of a robot; S2, constructing a motion equation of the robot by analyzing a motion process of the robot; S3, constructing an error function by utilizing the motion trail of the tracking object in the step S1 and the motionequation in the step S2, and calculating by combining a zeroing dynamical method and a gradient dynamical method, thus obtaining a controlled quantity; and S4, transmitting the controlled quantity toa controller of the robot, so as to be used for directly controlling the robot. The direct control method disclosed by the invention is simple and direct, convergence of the error function is guaranteed by introducing the zeroing dynamical method and the gradient dynamical method, and control precision is improved; and the direct control method disclosed by the invention has the advantages that designed parameters are fewer and easy to select, the problem that parameters in the traditional method are more and difficult to select is overcome and the controlled quantity can be conveniently and directly calculated.

Description

technical field [0001] The invention relates to the field of robot control, and more specifically, relates to a direct control method of a two-wheel robot. Background technique [0002] Robots have become an indispensable tool in contemporary social and economic production activities. Among them, the two-wheel mobile robot, as a common mobile robot, has been favored by the industry because of its simple structure, large range of activities, and flexible movement. It has a wide range of application scenarios in flat ground environments, such as sweeping and cleaning. Robots, logistics warehousing and transportation robots, and rescue robots. The control of two-wheeled mobile robots has become one of the very important research contents in the application of economical production. [0003] At present, the control method of the two-wheeled mobile robot usually adopts the PID method. As the most widely used classic controller design method, PID method has been widely used in ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223
Inventor 张雨浓黄焕昌杨敏郭津津李中华
Owner SUN YAT SEN UNIV
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