采用多种控制方式实现的机械轮式全向移动机器人的研究与开发

2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP) Pub Date : 2016-11-01 DOI:10.1109/M2VIP.2016.7827337

Qian Jia, Mulan Wang, Shuqing Liu, Jianjing Ge, Chen Gu

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引用次数: 14

摘要

机械式轮式机器人是一种较为流行且具有代表性的全向移动机器人，它可以在工作平面上进行前后、侧移、旋转等各个方向的运动。本文对机械轮式机器人的运动学模型进行了分析和讨论。基于该模型，设计并开发了两种全向移动机器人。由于采用多种控制方式实现的机器人在不同场合下具有更强的灵活性和适应性，因此在这两种机器人上分别采用了语音识别、蓝牙和红外遥控三种控制方式。然后，对三种模式控制的两种机器人的运动进行了比较和总结。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Research and development of mecanum-wheeled omnidirectional mobile robot implemented by multiple control methods

A mecanum-wheeled robot is a kind of popular and representative omnidirectional mobile robot, which can move in all directions on the work plane, e.g. forth and back, sideway and spin. In this paper, a kinematics model of a mecanum-wheeled robot is analyzed and discussed. Based on the model, two omnidirectional mobile robots are designed and developed. Because robots implemented by multiple control methods have more flexible and adaptable in different occasions, three control methods: speech recognition, Bluetooth and infrared remote control are applied to the two robots. Then, motion of the two robots controlled by three modes are compared and concluded.

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来源期刊

2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

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