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ID:36386428
大小:11.33 MB
页数:170页
时间:2019-05-10
《一种球形移动机器人的运动分析与控制技术的研究》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、北京邮电大学博士学位论文一种球形移动机器人的运动分析与控制技术的研究姓名:刘大亮申请学位级别:博士专业:机械电子工程指导教师:孙汉旭;贾庆轩20090326北京邮电大学博士学位论文一种球形移动机器人的运动分析与控制技术的研究关键词:球形移动机器人,运动模型,鲁棒控制,嵌入式系统,自主运动.IV.ResearchonMotionAnalysisandControl1’echonologyofaSphericalMobileRobotABSTRACTTheadvantageofthesph谢calmobilerobot
2、includeshi曲malleuVerability,aIldthatmerobotcaIlresumestabil埘eVeIlifaCollisionhappelledwiththeotherobstacles.Soitisve巧suitabletobeusedinthoseeIlⅥroments,suchasindustrialbuilding,ciVil印plication,defenseconstructionaIldspaceexplorationdomain.But,tillnow'becauseof
3、mefeatl鹏ofthepointcontactbe铆eenmesphericalshella11dthegrouIld,therearenoe虢ctiVemethodsmatcaIlsoVlemeproblenlsaboutⅡlemotionallalysisaIldcon仃DlteChonologyofasph嘶calmobilerobot,wrhichpreVents缸曲erresearchaIldapplicationoftherobot.So,inordertosoVletheseproblems,th
4、jsthesisdiscussesde印lymemotionaIlalySisaJldcon们1techonologyoftherobot.Tllefollowingaspectsarecontainedinmisthesis.Firstly'basedontheEul*La目an百anmethod,thedyIl锄icsmodelofmesph甜calmobilerobotwasdeVeloped,仃eatedbyreduced-orderand仃{msfonlledtono唧alnonlinearsyst锄us
5、ingCoordinateandinputcontroltraIlsfomation.TlleIl,thedoublelooplinearmotioncon怕ls竹ategywasdesigned.Theprobl锄ofthedyIlamicequilibriumwasproposed,andthed),IlamicsmodelsoftheplanarmotionweredeVel叩edinthecaseofu血f.omanduneveIlofmeshell’smassdistribution,respectiVe
6、ly.Then,usingmepartiallinearizationmemod'bothofthetwomodelsweretmsfo肌edtocascadenonlinearsystelIlswithnon-triangularandtriaIlgularnomlalfo咖,respectiVely.Moreov盯,med”锄icbalancecon仃0llerswithexponentialstabilityweredeVeloped.Thestabilityanalysis,simulationaIldte
7、stV甜ficationwerefinishedforthemotioncontrolandbalancecontrolstrate百es.SecondIy;thesphericalmobiIerc)botwassimp“fiedasthe“spheroid—pendulum”andthe“spheroid.仔ame”model,andmeird”啪icsdi仃erentialequationsweredeveloped,respectiVely.ThemotioncharactedsticofthedriVeme
8、challismalongmetwodriveShaRswasdiscussedbysolvingtheapproximatesolutionsofthedifferentialequations.Forthesakeofrobustcontrol,theuncertaintydynamicsmodelofspherical.VII.④北京邮电大学博士学位论
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