TY - JOUR
T1 - Attitude control algorithm of balancing-arm mobile robot
AU - Liu, Benyong
AU - Gao, Feng
AU - Jiang, Hui
AU - Zhang, Bin
N1 - Publisher Copyright:
© 2018, Editorial Board of JBUAA. All right reserved.
PY - 2018/2
Y1 - 2018/2
N2 - In order to improve the stability of working platform in the process of obstacle negotiation, with balancing-arm mobile robot as research object, an attitude control algorithm was designed based on nonlinear programming genetic algorithm. First, the simplified model of balancing-arm mechanism was built and spatial posture parameters were defined to character the space state of robot. Mathematical relationship between spatial posture parameters and wheel center positions was deduced by coordinate transformation equation based on spatial mechanism. Then, a nonlinear programming genetic algorithm was designed. The genetic algorithm fitness function used to solve objective control parameters was established under the constraint of stability. To verify the performance of the proposed attitude control algorithm, 3D model of the mobile robot and road were built in the ADAMS software, and then kinematics simulation studies were carried out by ADAMS and MATLAB/Simulink. The results of simulation show that when balance-arm mobile robot passes through the designed obstacles with the designed controller, the roll angle falls from 10.8° to 1.8° compared with no controller and the amplitude of wheel center position falls from 96.4 mm to 34.9 mm as also. The simulation results demonstrate the validity of the proposed attitude control algorithm.
AB - In order to improve the stability of working platform in the process of obstacle negotiation, with balancing-arm mobile robot as research object, an attitude control algorithm was designed based on nonlinear programming genetic algorithm. First, the simplified model of balancing-arm mechanism was built and spatial posture parameters were defined to character the space state of robot. Mathematical relationship between spatial posture parameters and wheel center positions was deduced by coordinate transformation equation based on spatial mechanism. Then, a nonlinear programming genetic algorithm was designed. The genetic algorithm fitness function used to solve objective control parameters was established under the constraint of stability. To verify the performance of the proposed attitude control algorithm, 3D model of the mobile robot and road were built in the ADAMS software, and then kinematics simulation studies were carried out by ADAMS and MATLAB/Simulink. The results of simulation show that when balance-arm mobile robot passes through the designed obstacles with the designed controller, the roll angle falls from 10.8° to 1.8° compared with no controller and the amplitude of wheel center position falls from 96.4 mm to 34.9 mm as also. The simulation results demonstrate the validity of the proposed attitude control algorithm.
KW - Balancing-arm
KW - Genetic algorithm
KW - Kinematical modeling
KW - Nonlinear programming
KW - Spatial attitude
UR - https://www.scopus.com/pages/publications/85044954093
U2 - 10.13700/j.bh.1001-5965.2017.0111
DO - 10.13700/j.bh.1001-5965.2017.0111
M3 - 文章
AN - SCOPUS:85044954093
SN - 1001-5965
VL - 44
SP - 391
EP - 398
JO - Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics
JF - Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics
IS - 2
ER -