自主柔性变形蛇形机器人控制系统设计
|
摘要
针对搜救机器人对多信息获取与处理、远程监控与运动控制的实时高性能需求,设计了以ARM微处理器STM32为核心、多传感器融合的自主柔性变形蛇形机器人控制系统,实现了机器人的远程监控与运动控制、多传感器环境信息采集等功能。整个控制系统具有良好的扩展性、硬件可裁剪性。通过模拟灾难废墟场景实验,结果表明:蛇形机器人控制系统可实现多信息的实时准确无线通信,在不同的环境中,具有良好的多步态运动稳定性和自主移动性能。
Aiming at more information acquisition and processing,remote monitoring and motion control,realtime performance requirements of rescue robots,a control system for autonomous flexible deformation snake-like robot is designed based on ARM microprocessor STM32 as core with multi-sensor fusion,achieving remote monitoring and motion control of the robot,multi-sensor environment information collection and other functions.The entire control system is of well scalability and pruning of hardware. By test simulating disaster ruins scene,result shows that snake-like robot control system can achieve multi-information real-time and accurate wireless communication,a good multi-gait motion stability and autonomous mobile performance in different environment.
Aiming at more information acquisition and processing,remote monitoring and motion control,realtime performance requirements of rescue robots,a control system for autonomous flexible deformation snake-like robot is designed based on ARM microprocessor STM32 as core with multi-sensor fusion,achieving remote monitoring and motion control of the robot,multi-sensor environment information collection and other functions.The entire control system is of well scalability and pruning of hardware. By test simulating disaster ruins scene,result shows that snake-like robot control system can achieve multi-information real-time and accurate wireless communication,a good multi-gait motion stability and autonomous mobile performance in different environment.
引文
[1]张小飞,张延恒,孙汉旭,等.可跳跃式两轮机器人的设计与动力学分析[J].机器人,2014,36(3):355-361.
[2]陈剑斌,田联房,王孝洪.基于ARM的自主移动机器人控制系统设计[J].机械设计与制造,2011(6):160-162.
[3]罗洋,李奇敏,温皓宇.轮腿式机器人控制系统及姿态算法设计与实验[J].计算机工程与设计,2014(5):1612-1618.
[4]王智锋,马书根,李斌,等.基于能量的蛇形机器人蜿蜒运动控制方法的仿真与实验研究[J].自动化学报,2011(5):604-614.
[5]郁树梅,马书根,李斌,等.蛇形机器人步态产生及步态分析[J].机器人,2011(3):371-378.
[6]张策,赵国存,张国宏,等.地震废墟搜救机器人控制系统开发与应用[J].控制工程,2011(S):76-79.
[7]Yamada H,Takaoka S,Hirose S.A snake-like robot for real-world inspection applications(the design and control of a practical active cord mechanism)[J].Advanced Robotics,2013,27(1):47-60.
[8]Crespi A,Karakasiliotis K,Guignard A,et al.Salaman-dra Robotica II:An amphibious robot to study salamander-like swimming and walking gaits[J].IEEE Transactions on Robotics,2013,29(2):308-320.
[9]Chen W,Ren G,Zhang J,et al.Smooth transition between different gaits of a hexapod robot via a central pattern generators algorithm[J].Journal of Intelligent and Robotic System,2012,67:255-270.
[2]陈剑斌,田联房,王孝洪.基于ARM的自主移动机器人控制系统设计[J].机械设计与制造,2011(6):160-162.
[3]罗洋,李奇敏,温皓宇.轮腿式机器人控制系统及姿态算法设计与实验[J].计算机工程与设计,2014(5):1612-1618.
[4]王智锋,马书根,李斌,等.基于能量的蛇形机器人蜿蜒运动控制方法的仿真与实验研究[J].自动化学报,2011(5):604-614.
[5]郁树梅,马书根,李斌,等.蛇形机器人步态产生及步态分析[J].机器人,2011(3):371-378.
[6]张策,赵国存,张国宏,等.地震废墟搜救机器人控制系统开发与应用[J].控制工程,2011(S):76-79.
[7]Yamada H,Takaoka S,Hirose S.A snake-like robot for real-world inspection applications(the design and control of a practical active cord mechanism)[J].Advanced Robotics,2013,27(1):47-60.
[8]Crespi A,Karakasiliotis K,Guignard A,et al.Salaman-dra Robotica II:An amphibious robot to study salamander-like swimming and walking gaits[J].IEEE Transactions on Robotics,2013,29(2):308-320.
[9]Chen W,Ren G,Zhang J,et al.Smooth transition between different gaits of a hexapod robot via a central pattern generators algorithm[J].Journal of Intelligent and Robotic System,2012,67:255-270.
版权所有：© 2023 中国地质图书馆 中国地质调查局地学文献中心