| The Mecanum Wheel was originally designed by Bengt Erland Ilon,an engineer at Mecanum AB in Sweden,as a solution to the problem of flexible transportation of materials on mega ships.The omnidirectional mobile platform equipped with the Mecanum wheel can achieve omnidirectional movement in a plane and in situ rotation without changing its own posture,which is highly flexible and maneuverable and can cope with complex and demanding mission environments.The omnidirectional motion mechanism of omnidirectional mobile robots usually uses multiple Mecanum wheels,and researchers can design omnidirectional mobile robotic platforms with different structures according to different tasks and needs.At the same time,in order to increase the omnidirectional motion platform’s Mecanum wheels’ control response time and precision,researchers continue to conduct in-depth research and design new motion control systems.to meet the requirements of a variety of different applications.The Robo Master2023 robot competition serves as the backdrop for this thesis,and uses the four-wheeled infantry robot participant as the primary study item.On the basis of Mecanum wheels,a four-wheeled omnidirectional mobile robot is researched and developed,and a thorough investigation is done into how the robot’s movements is controlled,and the omnidirectional mobile robot’s trajectory tracking controller is created from the kinematic and dynamics views,respectively.The main research works are as follows:1.the thesis analyzes the relevant event rules,designs the control system of the omnidirectional mobile robot based on the Mecanum wheel according to the event requirements,implements the omnidirectional mobile robot’s hardware platform design and software program design and serves as the foundation for in-depth study on the motion control algorithm;then examines the four-wheeled,omnidirectional mobile robot’s motion properties using the Mecanum wheel,establishes the kinematic model and dynamics model,also offers the pertinent kinematic model for the The creation of the kinematic and kinetic models served as the theoretical foundation for the study of motion control algorithms.From a kinematic perspective,the trajectory tracking issue of the Mecanum wheel-based omnidirectional mobile robot is investigated.When the motion of the omnidirectional mobile robot has a significant starting inaccuracy,the trajectory tracking controller created using the conventional backstepping method is vulnerable to abrupt speed changes or deviations from the desired trajectory,On the foundation of the conventional Backstepping control method,a neurodynamic model is presented,and a parameter adaptive law is designed.In addition,a trajectory tracking controller based on adaptive neurodynamics is proposed to achieve accurate tracking of the target trajectory and effectively suppress the sudden change of velocity.3.The trajectory tracking controller of omnidirectional mobile robot based on Mecanum wheel is studied from the kinetic point of view,and the influence of the kinematic trajectory tracking controller on the omnidirectional mobile robot due to the change of kinetic parameters and uncertainty factors is analyzed.The development of a sliding mode trajectory tracking controller based on filtering and an RBF neural network.A dynamics model with a motor is created,based on which the sliding mode controller is designed,a low-pass filter is introduced,and an adaptive law is used to anticipate the changes in the dynamics parameters.And the RBF neural network’s capacity for learning is employed to strengthen the control system’s jitter noise and enhance the accuracy of the forecast.And it is verified in the actual working environment of a four-wheeled omnidirectional mobile robot with Mecanum wheels.Effective suppression of the noise generated by parameter variations is achieved,and the ability to track the desired angle and desired velocity is substantially improved,and no abrupt changes in linear and angular velocities occur. |
PDF Full Text Request