Research on Control Strategy of Distributed Articulated Robot Based on Vehicle-arm Coordination

Yunfei Su; Hongchang Sun; Hang Xu; Guoqing Qiao; Xiangyan Wu

doi:10.54691/w3fb1g66

Authors

Yunfei Su
Hongchang Sun
Hang Xu
Guoqing Qiao
Xiangyan Wu

DOI:

https://doi.org/10.54691/w3fb1g66

Keywords:

Mobile robot; Distributed drive; Steering attitude control; Arm coordination.

Abstract

In order to improve the steering ability of articulated mobile robot, an articulated robot equipped with encoder telescopic rod and distributed electric wheel is designed. The rationality of the structure is verified by finite element simulation. The dynamic modeling of the robot is carried out by Newton-Euler method, and a steering control strategy is proposed. Based on Adams / Simulink joint simulation, the steering control strategy model is built and the simulation experiment is carried out. The motion of the articulated mobile robot under various working conditions is analyzed. The lateral displacement of the rear body is greatly reduced, which effectively avoids the occurrence of ' tail flick '. The physical experiment shows that the turning radius and turning time of the articulated mobile robot under the steering control strategy are better, which can effectively improve the steering ability of the robot.

Downloads

Download data is not yet available.

References

[1] Tao Xu. Research on Differential Auxiliary Hydraulic Steering Control of Distributed Drive Articulated Vehicle[D].University of Science and Technology Beijing,2019

[2] Corke P I, Ridley P. Steering kinematics for a center-articulated mobile robot[J]. IEEE Transactions on Robotics and Automation, 2001, 17(2): 215-218.

[3] He Li, Yiqiu Zhao, Chaobin Qin, et al.Design and test of control system for folding waist steering unmanned plant protection vehicle[J].Transactions of the Chinese Society for Agricultural Machinery,2020,51(S2):544-553.

[4] He Y, Khajepour A, McPhee J, et al. Dynamic modelling and stability analysis of articulated frame steer vehicles[J]. International Journal of Heavy Vehicle Systems, 2005, 12(1): 28-59.

[5] Qin Bai. Brief Analysis of 60t Articulated Electric Wheel Dump Truck of CSR[J].Mining Equipment,2014(05):104.

[6] Tingting Li, Shiwen Yang, Zhongbin Wu.Research on Steady Steering Control Strategy of All-wheel Drive Articulated Vehicle[J].Coal Mine Machinery,2021,42(10):66-69.

[7] Li Shoutao, Yang Lu, Qu Ruyi, et al.A slip rate control method based on model predictive control[J/OL].Journal of Jilin University(Engineering and Technology Edition),1-8[2024-09-23].

[8] Pengpeng Sun. Research on slip rate control strategy of four-wheel hub electric vehicle under emergency braking condition[D]. Jilin University,2022.

[9] Feng Jin. Research on adaptive fault-tolerant control for actuator failure of distributed drive electric vehicle[D].Taiyuan University of Science and Technology,2024.

[10] Lian Jinyi, Dai Xuantao, Shang Le. Research on electronic differential control strategy of distributed drive pure electric vehicle[J].Machinery Design & Manufacture, 2024,(05):28-34+40.

[11] Wang Qingnian, Wang Junnian, Jin Liqiang.Differential power steering for electric wheel drive vehicles[J].Journal of Jilin University(Engineering and Technology Edition),2009,39(01):1-6.

[12] Wang Junnian.Research on differential power steering technology of electric wheel independent drive vehicle[D].Jilin University,2009.

[13] Jin Liqiang, Wang Junnian, Song Chuanxue and so on. Electric wheel drive vehicle power steering technology[J].Journal of Mechanical Engineering, 2010,46 (14):101-108.

[14] Iida M , Nakashima H , Tomiyama H ,et al.Small-radius turning performance of an articulated vehicle by direct yaw moment control[J].Computers & Electronics in Agriculture, 2011, 76(2):277-283.

[15] Ji Zhiyong, Wu Zhongbin, Ren Zhiyong, etc. Differential folding steering control strategy of mine vehicle articulated system based on multi-loop nesting[J/OL].Journal of China Coal Society,1-12[2024-09-23].