摘 要：全向步行支援机器人可以辅助使用者按照意图方向行走。由于受到车轮与地面间非线性摩擦和负载变化的影响，机器人运动中易出现侧滑，四轮无法准确驱动，偏离预定轨迹。本文在运动学和动力学分析的基础上，为全向步行支援机器人建立3 个自由度非线性平面运动数学模型，并使用模糊算法设计智能轨迹跟踪控制器。通过对比预定轨迹与实际轨迹的偏差判断是否有侧滑产生，一旦侧滑，控制器对四个全向轮的驱动力矩进行修正，使机器人回到预定轨迹。仿真实验验证了所设计控制器的可行性和有效性。
关键词：全向步行支援机器人；非线性；轨迹跟踪；模糊控制
中图分类号：TP242 文献标识码：A 文章编号：2096-4706（2018）06-0173-05
Modeling and Motion Control of Waling Support Robot withOmni-directional Wheels
JIN Xiaoting1，2，HUANG He3
（1.Liaoning Radio and TV University，Shenyang 110000，China；2.Liaoning Equipment Manufacturing Vocational and Technical College，Shenyang 110000，China；3.Air Force Communication NCO Academy，Dalian 116600，China）
Abstract：Omnidirectional walking suppot robot can help user walking indoors according to a predetermined direction by the user’s manipulation. Due to the influence of nonlinear friction and load changes，slip occurs in the robot motion. And inaccurate driving by slip leads to departure from the predetermined trajectory. In this paper on the basis of kinematic and dynamic analysis，a 3 DOF nonlinear surface motion mathematical model is provided for walking support robot with omni-directional wheels. Also a fuzzy method is designed to realize intelligent trajectory tracking control. By comparing the deviation between the predetermined and the actual trajectory，we can determine whether there is a slip. If slip occurs，then all wheels are controlled accurately by the fuzzy tracking controller to return to the predetermined trajectory. Simulation results show the feasibility and effectiveness of the proposed controller.
Keywords：Omni-directional walking support robot；nonlinear；trajectory tracking；fuzzy control
参考文献：
[1] Jae-Bok Song，Kyung-Seok Byun. Design and controlof a four-wheeled omnidirectional mobile robot with steerableomnidirectional wheels [J].J Robot Syst，2004，21（4）：193-208.
[2] Kyung Lyong Han，Oh Kyu Choi，Jinwook Kim，Hyosin Kim. Design and control of mobile robot with mecanum wheel [C]. ICROS-SICE International Joint Conference. 2009：2932-2937.
[3] Zhen Yu Zhao，Masayoshi Tomizuka，Satoru Isaka. Fuzzy gain scheduling of PID controllers [J].IEEE Transactions On Systems Man & Cybernetics，1993，23（5）：1392–1398.
[4] Jingwei Xu，Xin Feng. Dedign of adaptive fuzzy PID tunerusing optimization method [C].//5th World Congress on Intelligent Control and Automation：2004，3（3）2454–2458.
作者简介：金小婷（1985-），女，汉族，辽宁沈阳人，讲师，硕士，研究方向：康复机器人。