Non-flat Ground Mobile Robot Platform Position And Attitude Estimation And Control

This paper studies the compute and control of the position and pose of uneven terrain mobile robot's platform. According to the robots' requirement of working on the complicated terrain and the configuration and correlative parameters of the mobile robot studied here, two detecting means of the position and pose of mobile robot's platform are researched here, we use the method of D-H Coordinate Transformation to build the kinematics model of the robot's platform based on single side rocker, then hands over the method according to the vector which adds, considered the double sides rockers' function to the robot platform's position and pose influence, and establish the mobile robot platform's position and pose estimate system model which will supply an absolutely necessary theory foundation to the design of the robot's platform motion control system . This article has also analyzed the position and pose error of the mobile robot platform main origin from the static state and the dynamic two aspects, used the matrix differential method to establish the platform's position and pose error model, and carried on the position and pose compensation according to the error model analysis and detecting result to the robot platform. It has studied the system structure of the mobile robot platform's control system. The results of this paper supply an absolutely necessary theory foundation to the compute and control of the position and pose of uneven terrain mobile robot's platform. And the method of modeling may be applied to another mobile robot platform. The research presented on this paper is valuable to the development of the rocker type mobile robot.