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Driving structure and driving method of mobile orbot platform

A mobile robot and drive structure technology, applied in the field of robots, can solve problems such as performance mismatch and waste of resources, and achieve the effects of good dynamic characteristics, cost reduction and small size

Inactive Publication Date: 2005-05-25
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, directly transplanting the general servo control system to the ordinary mobile robot platform will cause performance mismatch and waste of some resources.

Method used

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  • Driving structure and driving method of mobile orbot platform
  • Driving structure and driving method of mobile orbot platform
  • Driving structure and driving method of mobile orbot platform

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0066] In the development of service robots, the above-mentioned three-wheel coordinated drive structure has been applied. The design requirements of the entire robot platform are: the volume is 60×50×70cm 3 ;The total weight is 30kg; the movement speed range is: 0~200cm / s; the positioning accuracy is 30cm / s 2 . Referring to the above pointers, select the guide wheel control motor DC motor 30w; the rated speed is 200rpm; the reduction ratio of the guide wheel motor reducer is 55.4:1; Photoelectric or magnetoelectric detection of the angle of the wheel disc and use the follow-up circuit to extract the wheel speed and wheel angle position (this device has applied for a national patent, patent number 02231208.0). Referring to products that are easy to obtain in the market and have relatively good performance and price, the driving wheel is driven by a 180w disc type DC motor (actually the power > 80w can meet the requirements); the magnetoelectric simple code wheel speed wheel ...

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Abstract

A drive structure using the coordinative drive mode for the movable wheel-type robot platform is composed of an active steering wheed driven by a low-power motor with high reduction rate, two back drive wheels driven respectively by two low-precision motors, and a drive controller. Its drive method includes decomposing the movement requirement into the control commands of three motors by said drive controller according to a coordination algorithm, and controlling three wheels. Said back wheels move in differential modes.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a driving structure and a driving method of a wheeled mobile robot body. It can be applied to mobile robots, intelligent wheelchairs, especially service robot driving platforms such as tour guides, welcoming guests, assisting the disabled, and cleaning. Background technique [0002] With the development of mobile robot technology and the improvement of people's living standards, intelligent mobile robots have received more and more attention. In the scientific research community, people often use mobile robots for autonomous perception, decision-making and collaborative research of multi-intelligent robots. In people's daily life, mobile service robots will also enter occasions such as shopping guides, welcoming etiquette, nursing and cleaning, and patrolling security. [0003] Judging from the current market situation, the main factor restricting the promotion of mobile intelli...

Claims

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Application Information

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IPC IPC(8): B25J5/00
Inventor 原魁刘贤华
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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