Research On Four-wheel Robot Modeling Stay In Contact With The Ground And Controlling Technology

The topic of reconfigurable robot built four-wheel mobile platform, the robot can be maintained through the reconstruction of four-wheel suspension to the ground, thereby increasing the robot stability of non-institutional environment, the more obstacles to achieve requirements. This paper mainly deals with the four-wheel-reconfigurable robots to model and control of research in reconfigurable suspension structure, kinematics analysis, stability evaluation method, the ground model and control, embedded control system design for practical effective design. On the ground at home and abroad have been unstructured and balanced structure of the robot mechanical structure of the research, combined with this issue needs to design a parallel robot four semi-active suspension structures, analysis of the characteristics and advantages of this structure.As a multi-branched-chain movement structure, the four-wheeled robot's movement with time-varying topology, but also as a redundant drive system, requiring a simple and effective real-time kinematic model of robot walking. Meanwhile, the constraints widely used robot main problem is its stability, in order to accurately assess the stability of four-wheeled robot and immunity, the subject tried to find a more general evaluation method to establish the stability of the interference terms center of gravity height, posture and bearing surface quality parameters of the robot stability margin relationship between the stability of the comprehensive evaluation of the robot provides the basis.When the elastic deformation of the road or obstacles to the robot path, the pure position control will lead to the absolute height of lower body or posture change. Therefore, the process of four-wheeled robot in advance to meet the center of gravity in addition to stability, but also to satisfy the body's balance. The subject of improving the stability of the robot based on the combination of wheel force feedback control, using four-wheel landing model is simple and practical control strategy to achieve the unity of the robot stability and balance.Finally the master-slave multi-processor control architecture, design the corresponding peripheral interface circuit and the interface program. At the same time to carry out the basic reconstruction of attitude and non-flat road four-wheel landing xperiment to test the robot design and theoretical analysis is correct.