Designing The Posture Correction System Of The Three-wheel Omni-directional Mobile Robot Based On The Routine Method And Euler Algorithm

Mobile robot posture correction in the coordinate system is the hotspot of mobile robot research。It is also the key technologies that can realize accurate positioning and controling in the coordinate system of the robot,including the robot position and Angle correction.In view of the mobile robot positioning inaccuracy and not advanced control technology in the current domestic,it can’t satisfy the factory implementation of unmanned management requirements in the automatic factory.So aiming at this problem,this paper proposes a new,three-wheel omni-directional mobile robot design scheme of the control system of position correction based on Euler algorithm.Through using the Euler algorithm for the analysis of robot trajectory correction and designing control platform verificatingm,it verified the three-wheel omni-directional mobile robot can improve the effect of the mobile robot posture correction。it is mainly done that the following work in this article about the mobile robot posture correction:1)this paper introduces the research background and research status of mobile robot,it has made the summary that the research methods and present situation of the correction of mobile robot at home and abroad and2)The robot in this paper adopts the three rounds control mechanism of omni-directional wheel,then it has institutions for the kinematics and dynamics analysis.The robot pose estimation uses the current mainstream Routine measurement method to measure the motion coordinates of the robot,but the routine method in the actual it is easy to produce cumulative error,so it uses the other algorithm for robot motion posture correction.Using Euler algorithm to the robot trajectory correction for the simulation analyses,By using linear interpolation algorithm and Euler algorithm for robot simulation analysis,the comprehensive comparison,it put forward a kind of mobile robot correction scheme method that Euler algorithm combines with routine measurement method.3)The design of the correction of the robot control platform,including software and hardware design of the robot control system.Among them,the hardware design including the design of the robot control panel circuit,power supply design,as well as the selection of the motor and encoder model to determine and so on.Software designed mainly includes the serial communication between SCM and PC software, and interface design etc.