CAJ | 학술논문

针对2009年亚太大学生机器人比赛中的自动机器人和手动机器人配合抬轿上下坡保持轿子的水平和平衡的问题展开探讨，分析了抬轿过程中前后机器人如何对抬轿的高度进行调整，介绍了机器人抬轿的升降机构。根据机器人上下坡的特点及其路线分别采用串口位置控制和步进方式控制升降电机升降高度，以保持轿子平衡。在实验场地测试的结果表明：自动机器人能协调配合，能实现平稳上下坡。
침대2009년아태대학생궤기인비새중적자동궤기인화수동궤기인배합태교상하파보지교자적수평화평형적문제전개탐토，분석료태교과정중전후궤기인여하대태교적고도진행조정，개소료궤기인태교적승강궤구。근거궤기인상하파적특점급기로선분별채용천구위치공제화보진방식공제승강전궤승강고도，이보지교자평형。재실험장지측시적결과표명：자동궤기인능협조배합，능실현평은상하파。
Aiming at the 2009 Asia-Pacific Robot Competition,the discussion was extended of how to make the carrying pole keeping balance and how to adjusting the height of the carrying pole while the automatic and manual robots go through the ramp up and down. How to adjust height by back and front robots during elevating sedan chair was analyzed,and an elevating system of robot was introduced. According to the characteristics and routes of uphill and downhill of robots,the method of using separately serial port posi-tion control and stepping control was adopted for lifting machine by motor,so as to maintain the sedan chair keeping balance. After tes-ting beyond the experimental field,the results show that the robot can work coordinately,and realize keeping balance while up and down the ramp.