Experimental Research on Motion Control and Error Analysis of Mobile Robot
Aiming at the problem of material sorting and supply in the auto parts assembly line,a mobile operation robot was de-signed and assembled to realize intelligent automatic feeding.Based on this mobile operating platform,the kinematics model is established,and the motion control strategy is proposed based on this.The relationship between the input pulse and the robot speed and turning radius is analyzed.The laser tracker is used to calibrate the trajectory of the robot's linear and circular motion,and the law of trajectory error changing with speed is obtained.The research results show that by controlling the input pulse of the mo-tor,the proposed motion control strategy can satisfy the positioning and operation of mobile robots in different scenarios.The lin-ear speed of the robot is proportional to the input pulse,the steering speed is proportional to the input pulse difference,and the turning radius is proportional to the sum of the input pulses.From the relationship between the trajectory error and the speed,the optimal speed of the robot is(0.2～0.3)m/s.When transporting small parts and need to improve the operating efficiency,the linear speed can be controlled at(0.5～0.7)m/s,which provides a solution for analyzing the motion performance.
Mobile Operation RobotKinematic ModelControl StrategyLaser TrackerError Analysis
NETL
NSTL
万方数据
维普
