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应用科学学报 ›› 2009, Vol. 27 ›› Issue (2): 210-215.

• 控制与系统 • 上一篇    下一篇

叉车式机器人的转向位姿误差

马斌良1;2 黄玉美1 朱从民1 杨幸芳1   

  1. 1. 西安理工大学机械与精密仪器工程学院，西安710048
    2. 独山子石化公司，新疆克拉玛依833600
  • 收稿日期:2008-03-26 修回日期:2008-12-07 出版日期:2009-04-01 发布日期:2009-04-01
  • 作者简介:马斌良，博士生，研究方向：轮式移动机器人动力学及自动化控制，E-mail: mbl2005mbl@163.com
  • 基金资助:
    国家自然科学基金(No.50075069)；陕西省教育厅产业化培育计划基金(No.03JC17) 资助项

Steering Pose Error of the Forklift Robot

  1. 1. Faculty of Mechanical and Precision Instrument Engineering, Xi’an University of Technology,
    Xi’an 710048, China
    2. Dushanzi Petrochemical Company, Kelamayi 833600, Xinjiang Province, China
  • Received:2008-03-26 Revised:2008-12-07 Online:2009-04-01 Published:2009-04-01

PDF

1340

被引次数

1

摘要：

执行器的加速度和负载质量会影响叉车式机器人的转向位姿. 将执行器加速度和负载质量的变化转化为叉车式机器人作业质心的跃变，通过坐标变换对基于横滑特性的叉车式机器人的转向位姿误差进行建模. 基于该误差模型分析了执行器不同加速度和负载质量对叉车式机器人转向位姿的影响. 实验结果表明，执行器加速度和负载质量的变化会造成叉车式机器人不同程度的欠转向和过转向.

关键词: 叉车式机器人, 坐标变换, 横滑, 转向位姿, 误差建模

Abstract:

The manipulator’s acceleration and load quality have influence on steering pose of the forklift robot in its operation. Change of acceleration and load quality of the manipulator is transformed into jump of working centroid of the forklift robot. The steering pose error model of the forklift robot is established based on sideslip motion by the coordinate transformation. The effect of acceleration and load quality of the manipulator on steering pose of the forklift robot is analyzed based on the steering pose error model. Analysis shows that change of acceleration and load quality of the manipulator can result in various degrees of understeer and oversteer of the forklift robot.

Key words: forklift robot, coordinate transformation, sideslip, steering pose, error modeling

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