To address the problem that two-wheel differential mobile robots are heavy and inconvenient to move manually when loaded,a pushing assist control method based on the CANopen protocol is designed.Detect the values of two drive wheel coders within one control cycle,calculate the linear and angular velocities of the vehicle body,and determine the magnitude and direction of the torque sent to the two drive wheels based on the calculation results and external switch input results,thereby achieving the function of electric power assistance.The method has been applied to the company's industrial cleaning robot products with significant results.
关键词
两轮差速移动机器人/电动助力/CANopen协议
Key words
two-wheeled differential mobile robot/electric assist/CANopen protocol
维普
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