摘要
为了提高智能舞台的艺术呈现效果,将移动机器人技术应用于智能舞台运动平台的创新研制。针对智能舞台机器人提出了一种包含定位导航和运动控制的导航控制系统架构,研究了三角测距原理的机器人定位方法,建立了机器人的运动学模型与轨迹跟踪控制率。在工控机上开发了定位导航系统的环境感知、位姿估计与轨迹规划等功能,在嵌入式控制器上开发了运动控制系统的路径跟踪、底盘控制等功能。搭建了智能舞台机器人实验样机,完成了正弦曲线的路径跟踪实验,实验结果验证了样机的导航运动性能。
A navigation control system framework,including localization navigation and motion control,is proposed for intelligent stage robot in this paper.Firstly,the robot localization method based on triangular ranging principle is studied.Then,the kinematic model and the trajectory tracking control law are designed for robot.Thirdly,the functions of environment perception,pose estimation and trajectory planning are developed for the localization navigation system in an industrial control computer,while the functions of path tracking and chassis control are developed for the motion control system in an embedded control system.Finally,an experimental prototype is fabricated for intelligent stage robot,and used in the path tracking experiment for a sine curve.The experimental results verify the navigation motion performance of the prototype.
出处
《工业控制计算机》
2022年第11期47-49,共3页
Industrial Control Computer
基金
江苏省发改委立项计划(2020-320102-87-01-117228)资助。
