In order to improve the flexibility of wheeled chassis robots and the adaptability to cope with complex terrain,this paper proposes a highly maneuverable mobile robot with rudder structure.The robot controls the speed and direction separately during the movement through the rudder structure to adapt to terrain changes,im-prove the efficiency of movement,and also reduces the wear caused by the movement component to the wheel group.Solidworks and MATLAB are used to simulate the motion process and control system of the robot respec-tively,and a physical prototype is developed to conduct motion tests according to combined motion and orbital point motion.Experimental results show that the robot can achieve overall control through the combined move-ment of 4 wheel sets,and within 4 s at a speed of 0.3 m/s through the circle movement with a radius of 15 cm,the error remains within 1 cm.It is verified that the robot has a certain degree of flexibility.
关键词
舵轮结构/串级PID控制/双闭环控制/全向运动/CAN通信
Key words
steering wheel structure/cascade PID control/double closed-loop control/omnidirectional mo-tion/CAN communication
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