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摘要
Purpose - The purpose of this paper is to propose a suitable motion control method for omni-directional mobile robots (CMRs) based on anisotropy. Design/methodology/approach - A dynamic modeling method for OMRs based on the theory of vehicle dynamics is proposed. By analyzing the driving torque acting on each axis while the robot moves in different directions, the dynamic anisotropy of OMRs is analyzed. The characteristics of dynamic anisotropies and kinematic anisotropies are introduced into the fuzzy sliding mode control (FSMC) system to coordinate the driving torque as a factor of influence. Findings - A combination of the anisotropy and FSIVIC method produces coordinated motion for the multi-axis system of OMRs, especially in the initial process of motion. The proposed control system is insensitive to parametric vibrations and external disturbances, and the chattering is apparently decreased. Simulations and experiments have proven that an effective motion tracking can be achieved by using the proposed motion control method. Research limitations/implications - In order to obtain a clearer analysis of the anisotropy influence during the acceleration process, only the case of translation motion is discussed here. Future work could be done on cases where there are both translation and rotation motions. Practical implications - The proposed motion control method is applied successfully to achieve effective motion control for OMRs, which is suitable for any kind of OMR. Originality/value - The novel concept of dynamic anisotropy of OMRs is proposed. By introducing the anisotropy as an influential factor into the FSMC system, a new motion control method suitable for OMRs is proposed.
- 出版日期2010
- 单位上海交通大学
