A method and system for robot obstacle crossing control based on changing centroid

A control method and robot technology, which are applied in control/regulation systems, non-electric variable control, two-dimensional position/channel control, etc., can solve the problems such as the inability to apply compound swing arm crawler robot over obstacle control, and achieve higher efficiency. performance and reliability, reduce system costs, and reduce operational difficulty

Active Publication Date: 2022-01-11
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, during the obstacle-crossing process of the composite swing-arm crawler robot, the movement of the front swing arm and the mechanical arm will change greatly, and the position of the center of mass of the whole machine will change significantly. Overturning attitude, the traditional mobile robot obstacle surmounting analysis method cannot be applied to the obstacle surmounting control of the compound swing arm crawler robot. There is an urgent need for an obstacle surmounting control method and system that meets the real-time changes of the swing arm crawler robot and is oriented to convenient operation.

Method used

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  • A method and system for robot obstacle crossing control based on changing centroid
  • A method and system for robot obstacle crossing control based on changing centroid
  • A method and system for robot obstacle crossing control based on changing centroid

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Embodiment 1

[0032] The first embodiment of the present invention relates to a robot obstacle-surmounting control method based on variable center of mass, including the following steps:

[0033] S1: Establish a variable-structure center-of-mass kinematics model of the swing-arm crawler robot, and calculate the estimated height of the obstacle relative to the robot body;

[0034] After determining the swing-arm crawler robot that needs to overcome obstacles, a variable-structure center-of-mass kinematics model is established according to the robot's parameter information for subsequent evaluation of the state of the center-of-mass change. Invariable analysis method, the present invention fully considers the impact of the center of mass on the stability of obstacle surmounting in the case of non-line-of-sight obstacle surmounting, and establishes a variable-structure centroid kinematics model to more accurately predict the attitude of the robot in the process of surmounting obstacles, and imp...

Embodiment 2

[0050] Further, the second embodiment of the present invention relates to a robot obstacle-surmounting control method based on variable center of mass, including the following steps:

[0051] S1: Establish a variable-structure center-of-mass kinematics model of the swing-arm crawler robot, touch the top of the obstacle at the end of the robot arm, calculate the height of the obstacle, and calculate the estimated height of the obstacle relative to the robot body;

[0052] like image 3 , 4 As shown, the swing-arm crawler robot includes the initial state of the robot and the expanded state of the robot, and the variable-structure center-of-mass kinematics model of the swing-arm crawler robot is established. Among them, the swing arm crawler robot includes the main track, the front swing arm and the mechanical arm (big arm and small arm) and 5 joints (joint 0-joint 4) from bottom to top. in, is the opening angle of joint 3 and joint 4 in the initial state of the robot; are ...

Embodiment 3

[0119] The third embodiment of the present invention relates to a robot obstacle-surmounting control system based on variable center of mass, such as Figure 11 As shown, the robot obstacle control system includes upper computer, lower computer and sensors. The upper computer receives the sensor data and sets the travel speed, calculates the action control sequence according to the robot obstacle-surmounting control method based on the variable center of mass involved in the first or second embodiment, and sends the action control sequence to the lower computer; the lower computer is controlled by the DSP, according to the action The control sequence realizes the position control of the robot motors, and the robot motors include swing arm motors, travel motors and joint motors 1-3. The sensor is used to measure the state data of the robot. Potentiometers are installed on the robot swing arm motor, the joint motor of the manipulator and some transmission mechanisms to measure t...

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Abstract

The invention relates to the field of robot obstacle surmounting control, and discloses a robot obstacle surmounting control method and system based on variable center of mass. Establish a variable-structure center-of-mass kinematics model of the swing-arm crawler robot, calculate the estimated height of obstacles; generate action control sequences based on the estimated height of obstacles and action sequence rules; predict the change state of the center of mass based on sub-actions and variable-structure center-of-mass kinematics model; evaluate the change state of the center of mass Whether it meets the obstacle-crossing requirement, if so, control the robot to cross the obstacle according to the action control sequence; Relying on external sensors reduces system cost and system complexity.

Description

technical field [0001] The invention relates to the field of robot obstacle-surmounting control, in particular to a robot obstacle-surmounting control method and system based on a variable center of mass. Background technique [0002] As an important type of robot, tracked special robots are special robot equipment developed to undertake special emergency tasks such as anti-terrorism, explosion-proof, earthquake relief and other special emergency tasks. Compared with ordinary robots, tracked special robots have higher requirements for the ability to overcome obstacles Strong handling capability, sufficient obstacle-surmounting capability and convenient control means. In order to ensure the obstacle-surmounting ability of the system, the existing technology mainly improves the structure to leave redundancy in the structure and enhance the obstacle-surmounting ability. A variety of configurations of crawler special robots, composite swing arm crawler robots are typical config...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0223G05D1/0221G05D1/0276G05D2201/02
Inventor 陶永高赫温宇方兰江波刘海涛韩栋明
Owner BEIHANG UNIV
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