两轮机器人在斜坡上的动力学建模和仿真.doc

文档介绍：
两轮机器人在斜坡上的动力学建模和仿真#
阮晓钢,李亚磊,张蓉*
(北京工业大学人工智能与机器人研究所,北京 100124)
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摘要:两轮机器人在斜坡上运动时仍然可以保持自身的竖直,避免了一般轮式机器人由于机
身倾斜而倾倒的不利现象。本文分析了两轮机器人在斜坡上运动的平衡条件,建立了两轮机
器人在斜坡上的动力学模型。当斜坡角度为 0 度时,模型退化为两轮机器人在平面上的模型。
在仿真实验中,通过设置机器人的初始状态,让两轮机器人在不受外力作用下,在斜坡上自
由运动,实验结果验证了两轮机器人在斜坡上的动力学模型的正确性,为两轮机器人在复杂
环境下的控制器设计提供了一定的理论基础。
关键词:控制系统仿真技术;两轮机器人;动力学模型;斜坡;系统仿真
中图分类号:TP
Dynamics Modeling And Simulation Of The Two-Wheels
Robot On The Slopes
RUAN Xiaogang, LI Yalei, ZHANG Rong
(Artificial intelligence and robotics, Beijing University of Technology, Beijing 100124)
Abstract: The two-wheeled robot can still maintain upright when it moves on the slope. As a
result of which, the two-wheeled robot will not tilt with the body dumps like general wheeled
robots. In the paper, we firstly analyse the equilibrium conditions of the two-wheeled robot when
it moves on the slope, and then we establish the robot’s dynamic model. When the slope’s angle is
0 degree, the simplified model is consistent with the model on the plane. In simulation
experiments, by setting initial conditions, we make the two-wheeled robot move freely on the
slope, the experimental results show the validity of the model, which can provide a theoretical
basis on which we can design the controller for the two-wheeled robot when it moves in
complicated environment.
Keywords: Control Science and Engineering