Research On Sliding Mode Control For Crawler Robot

In the field of intelligent robot, tracked robot is attracting more and more attention. Because the crawler robot has good off-road motor performance, good traction adhesion performance, good reset and obstacle ability, etc, in a complex terrain, crawler robots have greater advantages than other robots. Therefore, in space exploration, military combat robot industry land, crawler robot system has been used more widely. However, like many intelligent robot system, crawler robot system in the application by the network delay The existence of time delay greatly affect the using range of the crawler robot system.In view of the network time delay, this paper adopts the method of control reduce the influence of network delay on crawler robot system..At first, this paper deeply analyzes the caterpillar robot system object model, including the mobile robot’s upper mechanical arm and the lower crawler chassis kinematics model of the structure, the working principle of them carried on the thorough analysis, dynamics equations are established. Then on the upper mechanical arm with bilateral feedback control method, the main end USES impedance control, from the side USES the design of sliding mode control, and aiming at the some defects of conventional reaching law of sliding mode control is improved. For the lower mobile chassis is also the bilateral feedback control method was adopted, the difference is that the client is not using physical chassis, but the use of virtual reality technology to use OpenGL development environment designed virtual caterpillar mobile chassis, at the same time, to the master-slave controller of damping controller has been adopted. Finally, respectively by three groups of experiments proved in this paper, we study the effectiveness of the control method.