Research On Path Correction Algorithm And Control System Design Of Four Rudder Wheel Logistics Robot

In recent years,with the rapid development of the national intelligent manufacturing and logistics industry,intelligent logistics robots as the execution terminal of the intelligent logistics workshop have become an irreplaceable part of the entire intelligent logistics manufacturing industry.Among them,the four steering wheel logistics robot has flexible movement and strong carrying capacity,and has great academic research and engineering application value.However,due to its complex structure and low control accuracy,it has become the development bottleneck of the four steering wheel logistics robot.This article takes the four-helmet wheel mobile robot as an object,with the purpose of how to improve the four-helmet wheel robot's motion control capabilities,combining theoretical research and system development,in-depth study of the four-helmet wheel logistics robot motion control and path correction algorithm and completing Design of steering wheel logistics robot control system on this basis.The main research contents are as follows:(1)According to the application requirements of logistics robots,it's necessary to determine its main performance indicators.There are many ways to do,Analyzing the advantages and disadvantages of various positioning methods and wheel system layout schemes at present,selecting two-dimensional code positioning and four steering wheels as the control hardware system,completing the calculation of the motor power of the logistics robot drive system,and determining the overall scheme of the logistics robot control system.(2)To improve the path correction ability of the four-wheel steering logistics robot,it's essential to analyze and verify the forward and reverse kinematics control method of the four-wheel steering logistics robot.Secondly,it's also put forward innovatively proposes a four steering wheel steering control algorithm for robots with different sizes of pose deviations.A multi-step optimal control algorithm is proposed for small posture deviation.The control step number ensures the fast correction of the path and realizes the synchronous elimination of the robot's posture deviation.Aiming at large posture deviation,taking fuzzy control as the theoretical basis,combining the optimal path conversion strategy and the custom path correction model as an expert rule,the research of large posture deviation fuzzy control algorithm is completed.(3)On the basis of theoretical research,with the guidance of open and modular numerical control system,it's aimed to complete the design of the control system of the four-wheel wheel logistics robot.Combined with the application scenarios of robots,its serial communication,path correction,database storage,wireless data transmission,real-time obstacle avoidance and other functions are realized.Using multi-thread technology,the software development of the four steering wheel logistics robot is completed.(4)By Establishing a virtual prototype and a path correction controller,the different posture and deviation states of the robot was jointly simulated.It is useful to verify the correctness and engineering application of the four steering wheel logistics robot correction algorithm further,and complete the research and development of the motion control technology of the four steering wheel logistics robot.It has promoted the development of logistics automation equipment.