摘要
三轮全向移动平台具有全向移动能力。论文在已开发的机场服务机器人平台基础上,完成了另一种三轮全向移动平台运动控制系统的设计与实现,通过系统建模及运动学分析,采用STM32主控制芯片,无线通信等设备搭载外围硬件系统,实现各种运动模式的控制。经样机实验测试,该移动平台运动灵活,姿态稳定,能在平面更好的实现平移,原地旋转及全方位运动。
The three-wheel omnidirectional mobile platform has omnidirectional mobility.In this study,we designed and constructed a new motion control system for the omnidirectional mobile platform based on the existing airport service robot platform.System modeling and kinematics analysis were carried out,STM32 was adopted,and the wireless communication equipment was equipped with peripheral hardware system,thus the control of various motion modes was realized.Through test of the prototype,the mobile platform was proved to be flexible in motion and stable in posture,and could better realize translation,in-situ rotation and omnidirectional motion on flat ground.
作者
王勇
刘洋
祝鑫
WANG Yong;LIU Yang;ZHU Xin
出处
《现代机械》
2019年第6期5-9,共5页
Modern Machinery
