履帶式移動機器人之質量中心加速度分析與軌跡規劃

早期的傳統手工工業到現在的全自動化工業，科技的進步，造就了機器人輔助工業時代，機器人可以幫助我們搬運重物或是運送物件、零件，而如何有效的控制機器人在移動時，不會因為是輪子或履帶打滑而失去原本該走的路徑，這對一個履帶式移動機器人來說是重要議題。而本研究主要是探討一個履帶式移動機器人的加速度分析與控制，先是推導出履帶直線速度與轉速的關係，之後再推導出移動式機器人的位置與速度以及加速度的關係，利用逆向運動學推導出左邊履帶和右邊履帶與履帶式移動機器人的速度與偏航角的關係，之後推導出履帶移動機器人的加速度限制條件，並分析出直線與轉彎時的加速度限制條件，並且運用Matlab軟體來做模擬測詴，用VisSim軟體來實際測詴與觀察履帶式移動機器人是否會遵守加速度限制條件與運動特性，最後實際測詴運用在履帶式移動機器人上的結果是移動平台可以依照著運動特性與加速度限制去跑規劃好的路徑，因此證明運動特性分析與加速度限制條件的控制方法是可行的。

關鍵字

履帶式機器人；質量中心；加速度分析；軌跡規劃

並列摘要

From the conventional handmade manufacturing industry of yesteryear to the present-day automatic manufacturing industry, the progress in engineering technologies has finally led to an industrial era in which mobile robots assist humans in working environments. Mobile robots can assist humans in moving and transferring heavy objects; however, preventing wheel slippage and off-course travel is an import issue in the control of wheeled or tracked mobile robots. Therefore, this study focuses on the development of acceleration analysis and trajectory planning algorithms for motion control of tracked mobile robots. This study first derives the relation between the rotating speed and linear speed of driving wheels and then derives the relation among position, velocity, and acceleration of the developed tracked mobile robot. Subsequently, the kinematic relation between driving wheels (including their rotating speed and linear speed) and the mobile robot (including its motion velocity and heading angle) is obtained by applying kinematic analysis. The constraints for the motions of the mobile robot are then created and the acceleration constraints when the mobile robot moves on linear and circular paths are derived. The Matlab software is applied to carry out simulations of the developed algorithms, and the VisSim real-time control system is used to implement the developed approaches on the mobile robot to evaluate the derived acceleration constraints. The simulation and experimental results show that the mobile robot moves along the preplanned motion paths with the preplanned velocity and acceleration trajectories that consider the acceleration constraints. Thus, the proposed acceleration analysis and trajectory planning algorithms are applicable for the motion control of wheeled and tracked mobile robots.

並列關鍵字

Tracked Mobile Robot ； Center of Mass ； Acceleration Analysis ； Trajectory Planning

參考文獻

[8]X. Duan, Q. Huang, N. Rahman, J. Li and Q. Du, “Modeling and Control of a Small Mobile Robot with Multi-Locomotion Modes,” Proceedings of the Sixth International Conference on Intelligent Systems Design and Applications (ISDA'06),2006.

[4]Y. Zhang, J. H. Chung and S. A. Velinsky, “Variable Structure Control of a Differentially Steered Wheeled Mobile Robot,” Journal of Intelligent and Robotic Systems 36, 2003, pp. 301-304.

[5]J. Velagic, B. Lacevic and N. Osmic, Nonlinear Motion Control of Mobile Robot Dynamic Model, InTech, 2008, pp. 529-534.

[6]Y. Zhang, D. Hong, J. H. Chung and S. A. Velinsky, “Dynamic Model Based Robust Tracking Control of a Differentially Steered Wheeled Mobile Robot,” American Control Conference, vol.2, June 1998, pp. 850-855.

[1]自動導引車，http://blog.china.alibaba.com/blog/econagv/article/b0-i9954047.html

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履帶式移動機器人之質量中心加速度分析與軌跡規劃

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