中国机械工程2012，Vol.23Issue(23)：2858-2863,6.DOI:10.3969/j.issn.1004-132X.2012.23.018
新型八轮腿复合移动机器人动力学分析与控制
Dynamics Analysis and Control of a New Eight-wheel-legged Mobile Robot
摘要
Abstract
A new type of eight-wheel-legged mobile robot was designed to meet the needs of the emergency rescue system for mobile robots, which should have the ability of fast speed and terrain requirements. In the structure, this robot could change the angle among the legs to achieve attitude adjustment, and could raise wheels and legs to complete jump over, which could improve the ability of terrain through. In the control, Rolls equation was used to obtain the dynamic model of the robot. Sliding mode control was used for robot trajectory tracking. To reduce the steady-state error, switching function adopted integral type. In order to avoid chatter phenomenon, switching gain could be self-adjustment by integral form. From the simulation results, the tracking error of the robot can approach zero with fast velocity and small overshoot.关键词
八轮腿机器人/动力学/滑模控制/积分增益Key words
eight-wheel -legged robot/ dynamics/ sliding mode control/ integral gain分类
信息技术与安全科学引用本文复制引用
王红梅,张明路,张小俊,孟广柱..新型八轮腿复合移动机器人动力学分析与控制[J].中国机械工程,2012,23(23):2858-2863,6.基金项目
国家自然科学基金资助项目(61075097) （61075097）
河北省自然科学基金资助项目(E2010000049) （E2010000049）
天津市自然科学基金资助项目(12JCYBJC12100) （12JCYBJC12100）
