Research on Optimal Integrated Control of Omni-directional Mobile Vehicle by Novel Differential Drive and Steering Mechanism

新型差动驱动转向机构全向移动车辆优化集成控制研究

基本信息

批准号：
21360108
负责人：
TERASHIMA Kazuhiko
金额：
$ 11.98万
依托单位：
Toyohashi University of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2009
资助国家：
日本
起止时间：
2009 至 2011
项目状态：
已结题

项目摘要

Holonomic omnidirectional mobile robots are useful because of their high level of mobility in narrow or crowded areas, and omnidirectional robots equipped with normal tires are desired for their ability to surmount difference in level as well as their vibration suppression and ride comfort. A caster drive mechanism using normal tires has been developed to realize a holonomic omnidiredctional robot, but some problems has remain. In this research, we developed effective systems to control the caster-drive wheels of an omnidirectional mobile robot. We proposed a Differential-Drive Steering System(DDSS) using differential gearing to improve the operation ratio of motors. The DDSS generates driving and steering torque effectively from two motors. Simulation and experimental results show that the proposed system is effective for holonomic omnidirectional mobile robots. Furthermore, we developed both an intelligent power assist wheelchair for helper such that wheelchair robot adequately can adjust for the operator' s habit, and an semi-autonomous wheelchair using a novel intelligent haptic interface such as its haptic interface can teach the operator on the degree of danger. These achievements has been validated by not onlu theoretical analysis but also by real experiments, and demonstrated by a lot of exhibition held in many places of Japan. Thus, high evaluation has been obtained by many people.

完整的全向移动机器人因其在狭窄或拥挤的区域中具有高水平的移动性而非常有用，而配备普通轮胎的全向机器人则因其克服水平差的能力以及振动抑制和乘坐舒适性而被期望。已经开发出使用普通轮胎的脚轮驱动机构来实现完整的全向机器人，但仍然存在一些问题。在这项研究中，我们开发了有效的系统来控制全向移动机器人的脚轮驱动轮。我们提出了一种使用差动齿轮的差动驱动转向系统（DDSS）来提高电机的运转率。 DDSS 通过两个电机有效地产生驱动和转向扭矩。仿真和实验结果表明，该系统对于完整的全向移动机器人是有效的。此外，我们还开发了一种用于辅助者的智能助力轮椅，使轮椅机器人能够充分适应操作者的习惯，以及使用新型智能触觉界面的半自主轮椅，例如其触觉界面可以教导操作者程度。的危险。这些成果不仅得到了理论分析的验证，也得到了实际实验的验证，并在日本多地举办的大量展览中得到了证明。因此，得到了很多人的高度评价。