CAJ | 학술논문

为兼顾低成本、小体积，可实现负重行走的运动控制，设计了一种基于姿态传感器的两轮桌面式小型机器人 SmallRot？I．介绍了机器人的系统构成，包括机械结构部分和电气结构部分．使用 Lagrange 方程对此机器人进行了动力学建模，并采用双闭环 PID 算法对此机器人分别进行了系统仿真和实物的控制．机器人负重保持自平衡行走和转向运动时的仿真结果和实物控制结果证明了机器人物理系统和控制方法的合理性与有效性．
위겸고저성본、소체적，가실현부중행주적운동공제，설계료일충기우자태전감기적량륜탁면식소형궤기인 SmallRot？I．개소료궤기인적계통구성，포괄궤계결구부분화전기결구부분．사용 Lagrange 방정대차궤기인진행료동역학건모，병채용쌍폐배 PID 산법대차궤기인분별진행료계통방진화실물적공제．궤기인부중보지자평형행주화전향운동시적방진결과화실물공제결과증명료궤기인물리계통화공제방법적합이성여유효성．
To solve such problems as high?cost,big?size and weight?carrying walking,a small two desktop robot with two wheels—SmallRot?I,based on the attitude sensor,was designed.Firstly,the structure of the robot was introduced which included the mechanical parts and electrical parts.Secondly, the dynamic model of the robot was built using the Lagrange equation and the robot was controled under the double closed?loop PID algorithm.Finally,the robot was simulated and controled to walk with a heavy bag.Experimental results proved the rationality and validity of the robot physical system and control method.