CAJ | 학술논문

研究轮式移动机器人运动学建模方法问题.提出用于不规则地形下的轮式移动机器人运动学建模方法--轮心建模法 (Wheel-center modeling,WCM)在分析多刚体链式机构运动的速度特性以及不规则地形上轮式移动机构转动角速度特性的基础上,建立车轮轮心速度的矢量表达式,即确立WCM.以六轮摇臂转向架月球漫游车的运动学建模为例,分析各关节转动角速度矢量在车体坐标系下的投影,并根据转动矢量方向在车体坐标系中变化与否,将矢量叉乘的投影写成不同的形式,利用车轮轮心坐标系、轮地接触坐标系相对于车体中心坐标系的齐次变换矩阵中的相应元素,将车轮轮心的速度矢量表达式投影到车体中心坐标系下,建立车体运动学模型,从中阐述WCM的方法和过程,并分析WCM的特点.用试验和仿真验证该建模方法的正确性.
연구륜식이동궤기인운동학건모방법문제.제출용우불규칙지형하적륜식이동궤기인운동학건모방법--륜심건모법 (Wheel-center modeling,WCM)재분석다강체련식궤구운동적속도특성이급불규칙지형상륜식이동궤구전동각속도특성적기출상,건립차륜륜심속도적시량표체식,즉학립WCM.이륙륜요비전향가월구만유차적운동학건모위례,분석각관절전동각속도시량재차체좌표계하적투영,병근거전동시량방향재차체좌표계중변화여부,장시량차승적투영사성불동적형식,이용차륜륜심좌표계、륜지접촉좌표계상대우차체중심좌표계적제차변환구진중적상응원소,장차륜륜심적속도시량표체식투영도차체중심좌표계하,건립차체운동학모형,종중천술WCM적방법화과정,병분석WCM적특점.용시험화방진험증해건모방법적정학성.
The kinematic modeling method for a wheeled mobile robot is studied. A modeling method called wheel-center modeling (WCM) for kinematics of a wheeled mobile robot that moves on uneven terrain is presented. The vector expression of the wheel center velocity is derived on the basis of analysis of the velocity characteristic of a multi-rigid-body chain structure movement and the roating angular velocity characteristic of wheeled locomotion mechanism moving on uneven terrain. The method of WCM is introduced as a result. A six-wheeled mobile robot,lunar rover,with the rocker-bogie suspension is modeled by using WCM. The presentation of the angular velocity of the rotary joints in the rover centre frame is analyzed and the projection of vector cross product is expressed as different forms according to whether the direction of the angular velocity relatively to rover centre frame changes or not. The wheel centre velocity is projected to the rover body centre coordinate frame with the use of the elements of the homogeneous transformations from the wheel centre frame and the wheel-terrain contact frame to the rover center frame. Thus,the kinematics of the rover is modelled. The procedure of kinematic modeling using WCM is introduced and the characters of WCM is analyzed. The validity of the modeling method is verified by experiment and simulation.