Low-speed distribution robot motion control method
The invention discloses a motion control method for a low-speed distribution robot, which realizes electromagnetic parking, in-situ rotation, omnidirectional translation and four-wheel steering motion modes, greatly improves the flexibility of the robot, and can cope with narrow and limited space. A...
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| creator | ZHOU YONG LIAN ZHIHAO LI HANSHENG YI MINGRUI |
| description | The invention discloses a motion control method for a low-speed distribution robot, which realizes electromagnetic parking, in-situ rotation, omnidirectional translation and four-wheel steering motion modes, greatly improves the flexibility of the robot, and can cope with narrow and limited space. A vehicle body motion mathematical model is constructed, specifically, the positions of four wheels are A-D points, the center position of the axis of a front wheel is an E point, the original point of a plane rectangular coordinate system is located at the center O point of the whole vehicle, and a steering instantaneous center point P is set on the X axis. And under the condition that no motion instruction is issued, an electromagnetic parking mode is entered. In the omni-directional translation mode, the deflection angles of the four steering motors are all radius. In the in-situ rotation mode, the four points do circular motion with O as the circle center, and the turning radiuses are the same. In the four-wheel |
| format | Patent |
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A vehicle body motion mathematical model is constructed, specifically, the positions of four wheels are A-D points, the center position of the axis of a front wheel is an E point, the original point of a plane rectangular coordinate system is located at the center O point of the whole vehicle, and a steering instantaneous center point P is set on the X axis. And under the condition that no motion instruction is issued, an electromagnetic parking mode is entered. In the omni-directional translation mode, the deflection angles of the four steering motors are all radius. In the in-situ rotation mode, the four points do circular motion with O as the circle center, and the turning radiuses are the same. 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| language | chi ; eng |
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| subjects | ELECTRIC EQUIPMENT OR PROPULSION OF ELECTRICALLY-PROPELLEDVEHICLES ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES, IN GENERAL LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES MOTOR VEHICLES PERFORMING OPERATIONS TRAILERS TRANSPORTING VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TOCARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS VEHICLES IN GENERAL |
| title | Low-speed distribution robot motion control method |
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