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Force control method and device of wheeled robot and wheeled robot

A wheeled robot and control device technology, applied in the field of robotics, can solve the problems of reduced driving efficiency and motion obstruction of wheeled robots.

Pending Publication Date: 2020-10-27
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] For the motion control of wheeled robots, the whole machine is usually taken as the controlled object, but for multi-wheeled wheeled robots, the motion of different wheels may be different during the motion process, and the internal force between different wheels may be They will interfere with each other and hinder each other's movement, resulting in reduced driving efficiency of wheeled robots

Method used

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  • Force control method and device of wheeled robot and wheeled robot
  • Force control method and device of wheeled robot and wheeled robot
  • Force control method and device of wheeled robot and wheeled robot

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Embodiment Construction

[0040] In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0041] In the description of this specification, descriptions with reference to the terms "an embodiment", "an embodiment" and "an implementation" mean that specific features, structures, materials or characteristics described in conjunction with the embodiment or implementation are included in this specification. In at least one embodiment or implementation of the invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or implementation. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or implementations.

[0042] Embodiments of the present invention provide...

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Abstract

The invention relates to the technical field of robots and particularly relates to a force control method and device of a wheeled robot and the wheeled robot. the force control device for the wheeledrobot according to the present invention comprises a desired rotational speed generation unit for generating a desired rotational speed of a wheel on the basis of a desired speed of a vehicle body, adesired traction force generation unit for generating a desired traction force for the wheel, a desired wheel torque generation unit for generating a desired torque of the wheel on the basis of the desired rotational speed and the desired traction force, a rotational speed error generation unit for generating a rotational speed error on the basis of the real-time rotational speed and the desired rotational speed, a traction force error generation unit for generating a traction force error on the basis of the real-time traction force and the desired traction force, and a control law generationunit for generating a wheel force / speed hybrid control law for force tracking control or speed tracking control of the wheel on the basis of the traction force error, the rotational speed error, and the desired torque.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a force control method and device for a wheeled robot and the wheeled robot. Background technique [0002] For the motion control of wheeled robots, the whole machine is usually taken as the controlled object, but for multi-wheeled wheeled robots, the motion of different wheels may be different during the motion process, and the internal force between different wheels may be They will interfere with each other and hinder each other's motion, resulting in a reduction in the driving efficiency of the wheeled robot. Contents of the invention [0003] The problem solved by the invention is to improve the control of the wheeled robot, reduce the interference between different wheels, and improve the driving efficiency of the wheeled robot. [0004] In order to solve the above problems, the present invention provides a force control device for a wheeled robot, which includes ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0276
Inventor 丁亮黄澜于兆玮杨怀广齐华囡李楠高海波邓宗全
Owner HARBIN INST OF TECH
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