Research On Modeling,Motion Planning And Control Of Self-balancing Robot With Jumping Capability

Two-wheeled self-balancing robots are small,flexible,and easy to maneuver.They are widely used in transportation tools,service robots,and other related fields.But due to the inherent instability,underactuated,and strong coupling defects of the existing two-wheeled self-balancing robots,they are difficult to apply when facing obstacles,ditches,and other complex road conditions.In order to enhance the adaptability of two-wheeled self-balancing robots and expand their application range,this thesis combines two-wheeled self-balancing robots with a three-joint jumping mechanism to adopt a jumpable two-wheeled self-balancing robot solution,which makes it possible for self-balancing robots to move in complex road conditions.In this thesis,the theoretical analysis and simulation of the robot are mainly based on structural design and kinematic modeling,dynamic modeling,and motion planning and control,respectively.In terms of structural design and kinematic modeling,the structural model of the jumpable two-wheeled self-balancing robot is presented in this thesis,and a model of the robot's mass-center kinematics is established.The forward kinematic model of the robot's center of mass is built by the coordinate transformation method and the DH parameter,and the inverse kinematic of the center of mass is solved by the algebraic method.The velocity transfer of the robot is analyzed,and the equations of motion and the Jacobian matrix of the robot's center of mass are obtained.In terms of dynamic modeling,this thesis builds a dynamic model of robot jumping mode and a dynamic model of self-balancing mode.The robot vertical jumping principle,the robot jumping conditions and the ZMP equation are analyzed.The Newton-Euler method and the Lagrange method are used to derive the dynamic equation of the robot in jumping mode.Besides,the angular momentum relationship is derived for the flight phase.The overall model is equivalent to a two-wheeled inverted pendulum robot,and Newtonian mechanics is used to establish the dynamic equations for the self-balancing mode.In terms of motion planning and control,the robot's jumping process is planned,and the controllers are designed for jumping mode and self-balancing mode,respectively.The relative motion between the center of mass and the wheel during the takeoff and flight phase is planned by using five polynomials.The LQR method is used for the balance and speed tracking control of the robot to achieve the expected control objectives.The fuzzy self-tuning PID controller is designed to obtain a better control effect in the jump mode compared with the PD control method under known model conditions.The CoppeliaSim(V-REP)is combined with MATLAB to simulate the 3D motion of the robot,and finally,the motion planning of the robot in one jumping cycle is realized.The study of this thesis provides some reference for the theoretical research and engineering design practice of jumpable two-wheeled self-balancing robots.