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.

全能全向移动机器人在狭窄或拥挤的区域的移动性很高，因此，配备有正常轮胎的全向机器人的机动性很高，因此需要其能够克服水平差异以及振动抑制和骑行舒适度的能力。已经开发了使用正常轮胎的施法机制来实现全体性全能机器人，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施法车轮。我们提出了使用差速器齿轮的差速器驱动转向系统（DDSS），以提高电动机的运行比。 DDSS从两个电动机有效地产生驾驶和转向扭矩。仿真和实验结果表明，所提出的系统对于自动全向移动机器人有效。此外，我们既开发了一个智能的动力辅助轮椅，以使轮椅机器人充分适应操作员的习惯，也可以使用新颖的智能触觉界面（例如其触觉界面）教授操作员的危险程度。这些成就不是通过ONLU理论分析而是通过真实实验来验证的，并通过在日本许多地方举行的许多展览证明。因此，许多人获得了高评估。