无线互联科技
無線互聯科技
무선호련과기
wuxian hulian keji
2015年
17期
120-121
,共2页
多轴%仓储机器人%转向控制%独立驱动
多軸%倉儲機器人%轉嚮控製%獨立驅動
다축%창저궤기인%전향공제%독립구동
multi-axis%warehouse robot%steering control%independently drive
我国物流领域在核心仓储问题上对机器人应用的缺失已经成为制约该领域发展的重要原因之一。多轴仓储机器人采用电控电动式转向系统,基于阿克曼原理进行转向原理,建立简化的二自由度四轮模型,分析机器人运动微分方程。文章以质心零侧偏角为控制目标,对运动微分方程进行仿真,验证了运动模型和控制算法的正确性。
我國物流領域在覈心倉儲問題上對機器人應用的缺失已經成為製約該領域髮展的重要原因之一。多軸倉儲機器人採用電控電動式轉嚮繫統,基于阿剋曼原理進行轉嚮原理,建立簡化的二自由度四輪模型,分析機器人運動微分方程。文章以質心零側偏角為控製目標,對運動微分方程進行倣真,驗證瞭運動模型和控製算法的正確性。
아국물류영역재핵심창저문제상대궤기인응용적결실이경성위제약해영역발전적중요원인지일。다축창저궤기인채용전공전동식전향계통,기우아극만원리진행전향원리,건립간화적이자유도사륜모형,분석궤기인운동미분방정。문장이질심령측편각위공제목표,대운동미분방정진행방진,험증료운동모형화공제산법적정학성。
The absence of application in the key problem of domestic logistics—warehouse problem has become one of the most important reasons for restricting the development of the ifeld.Electronically controlled electric steering system was used on the multi-axis warehouse robot,based on the Ackerman principle,the multi-axis steering principle was analyzed in the paper, the relationships between the steering angles for each axis and wheel were found out.The simpliifed 2DOF four-wheel model was built,and the differential equations of robot’s motion were proposed.Aimed at zero mass-center side-slip angle, the accuracy of the differential equations and control strategy were validated by simulation.