球上平衡移动机器人的设计与控制

发布时间：2018-07-03 16:35

本文选题：移动机器人 + PID控制　；参考：《电子科技大学》2017年硕士论文

【摘要】：随着科技高速发展,智能机器人已经被应用到人们生活中的各个方面,几乎渗透工业、农业、军事、医疗等各大领域。智能机器人具有一定的自我判断和决策能力,一些重复性的工作逐渐被智能机器人取代。如工业机器人,机械臂等便可以代替工厂中流水线很多环节的人力工作。而移动机器人是机器人中一个重要研究方向,它最主要的特点就是能够自主移动。移动机器人的移动方式多种多样,有类似坦克的履带式,有类似人腿的腿式,也有类似车轮的轮式移动机器人。本文研究的是一种单球轮式移动机器人,与具有两个轮子的倒立摆(例如Segway Human Transporter)不同,球的倒立摆可以在任何方向上横向移动而不改变其姿态,从而实现稳定的运动,这种机器人可以用于代替两轮机器人,实现自我平衡运动,这种机器人还可以通过在开发原型之后改变控制增益来应用于运输。本文提出的球上平衡移动机器人由主体,万向轮,三组步进电机以及球轮组成。万向轮和电机之间没有传送带或者齿轮,而是直接连接,这样可以减少中间环节的摩擦和力矩损失。机器人装配了MPU6050模块用来进行姿态测量,它由16位微控制器控制,并运行在镍氢电池上。论文在惯性导航理论以及四元数融合等理论的基础上,建立完整的球车系统模型,实现了对球上小车的平衡控制。未来,我们的目标是能对球上平衡移动机器人进行遥控控制,提高机器人的稳定性和负载能力,给机器人附加多种服务功能,并使多个机器人进行协同运动。在本文中,通过控制移动机器人平衡运动,掌握了移动机器人平衡控制相关方面的技术和理论,具有一定的理论和现实意义。
[Abstract]:With the rapid development of science and technology, intelligent robots have been applied to all aspects of people's lives, almost permeating industrial, agricultural, military, medical and other fields. Intelligent robot has certain ability of self-judgment and decision-making, and some repetitive work is gradually replaced by intelligent robot. Such as industrial robots, robotic arm and so on can replace many parts of the factory assembly line human work. Mobile robot is an important research direction in robot, its main characteristic is that it can move independently. Mobile robots move in a variety of ways, such as tracked tanks, legs similar to human legs, and wheeled robots similar to wheels. In this paper, a single ball wheeled mobile robot is studied. Unlike the inverted pendulum with two wheels (such as Segway Human Transporter), the inverted pendulum of the ball can move horizontally in any direction without changing its posture, thus achieving stable motion. The robot can be used instead of a two-wheeled robot to achieve self-balancing motion. The robot can also be used in transportation by changing the control gain after the prototype is developed. The proposed mobile robot consists of main body, universal wheel, three groups of stepping motor and ball wheel. There is no belt or gear between the universal wheel and the motor, but it is connected directly, which can reduce the friction and torque loss of the intermediate link. The robot is equipped with MPU6050 module for attitude measurement. It is controlled by 16 bit microcontroller and runs on Ni-MH battery. On the basis of inertial navigation theory and quaternion fusion theory, this paper establishes a complete system model of the ball cart, and realizes the balance control of the small car on the ball. In the future, our goal is to remotely control the balanced mobile robot on the ball, improve the stability and load capacity of the robot, add a variety of service functions to the robot, and make multiple robots coordinate to move. In this paper, by controlling the balance movement of the mobile robot, we have mastered the technology and theory of the balance control of the mobile robot, which has certain theoretical and practical significance.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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