| In this thesis,a new generation of soccer robots were designed according to the requirements by the RoboCup Middle Size League competition.The whole thesis covers the mechanical design and a serious of motion control problems of the soccer robots.The main works were listed as follows: firstly,a new structure of omnidirectional wheel was designed,this wheel is used in the omnidirectional platform and the motion stability and frictional characteristic of it are superior to the several kinds of omnidirectional wheels.Base on this wheel,a new omnidirectional platform including the robot chassis,kicking device and ball handing mechanism were built.Secondly,a closed-loop controller was designed and developed for the new-designed ball handing mechanism,the controller included sliding-mode feed backward and vehicle velocity feed forward.Thirdly,this thesis deduced the kinetic model of the platform and the 2-levels control structure of it,then an action adaptive PD controller was introduced in order to smooth the trajectory when the soccer robot was going to carry out different action command,in addition,the accuracy of the motion control was increased through optimizing the control system frame and improving real-time performance of communication.It has been proved through the RoboCup 2016 which was held in Leipzig that the newly designed soccer robot has the ability of keeping good motion performance and stable under the intricate and dynamitic competition environment.The motion control problem raised in this thesis is suitable to the real competition background and the approaches adopted are effective and satisfactory,the motion control effect is satisfied to the requirement of the competition. |
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