Motion State Detection Technique for WallClimbing Robot Base on Two Degree of Freedom Universal Wheel Mechanism
ZHENG Jun，QIU Qiang，LI Peng，PAN Jiluan
(Key Laboratory for Advanced Materials Processing Technology of the Ministry of Education, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China)
Abstract： The speed measuring mechanism base on two degree freedom universal wheel was designed, which consisted of a two degree of freedom roller, a rotary encoder, an angular displacement sensor and a horizontal attitude sensor and so on. When the robot moved, its attitude angle and angular velocity were detected by the level posture sensor, its velocity direction was detected by the angle sensor, and its speed was measured by the photoelectric encoder, thus, the motion state of the robot can be obtained by this measuring device, and the relationship between the motor input and control point motion was also established, provide basis for the precise operation of the robot.
郑军,邱强，李鹏，潘际銮. 基于双自由度万向轮机构的爬壁机器人运动状态检测[J]. 上海交通大学学报（自然版）, .
ZHENG Jun，QIU Qiang，LI Peng，PAN Jiluan. Motion State Detection Technique for WallClimbing Robot Base on Two Degree of Freedom Universal Wheel Mechanism. J. Shanghai Jiaotong Univ.(Sci.) , 2015, 49(03): 379-382.
［1］Vagrancy J，Aldon M J, Fournier A. Mobile robot attitude estimation by fusion of inertial data ［C］∥Proceedings of the 1993 IEEE Conference on Robotics and Automation. Los Alamitos: The IEEE Computer Society Press, 1993: 277282.［2］宋亦旭, 谈大龙. 基于内部传感器的轮式移动机器人运动速度估计［J］. 控制理论与应用, 2003,20(4):537546.SONG Yixu, Tan Dalong. Wheeled mobile robot based on internal sensor speed estimation ［J］. Control Theory and Applications, 2003, 20(4): 537546.［3］侯国庆. 移动机器人行走系统的运动学分析和稳定性研究［D］. 天津: 河北工业大学, 2007.［4］Parsa K，Angeles J，Misra A K. Poseandtwist estimation rigid body using accelerometers［C］∥Proceedings of the 2001 IEEE International Conference on Robotics and Automation. Korea：The IEEE Computer Society Press, 2001: 28732878.［5］黄思姬, 欧屹, 陶卫军，等. 履带式地面移动机器人动力学模型分析［J］. 机电工程, 2011, 28(3): 280285.HUANG Siji, OU Yi, TAO Weijun, et al. Caterpillar ground mobile robot dynamics model analysis ［J］. Mechanical and Electrical Engineering，2011，28(3): 280285.［6］耿军晓, 邢琳芬, 张志远. 基于速度观测器的移动机器人轨迹跟踪控制［J］. 徐州工程学院学报, 2010, 25(3): 1318.GENG Junxiao, XING Linfen，ZHANG Zhiyuan. Speed observer based mobile robot trajectory tracking control ［J］. Journal of Xuzhou Engineering Institute, 2010, 25(3): 1318.［7］康亮, 赵春霞, 郭剑辉. 履带式移动机器人轨迹跟踪研究［J］. 计算机科学, 2009, 36(6): 241244.KANG Liang, ZHAO Chunxia,GUO Jianhui. Crawler mobile robot trajectory tracking study ［J］. Journal of Computer Science, 2009, 36(6): 241244.
