| Mecanum wheel omnidirectional mobile robot can move in any direction on the plane in a narrow space,and can realize the rotation movement with zero turning radius.At the same time,Mecanum wheel is easy to control and has been favored by many researchers.Mecanum mobile robot can have better motion characteristics and control accuracy in low and medium speed scenes.In order to show the advantages of Mecanum wheel omnidirectional mobile robot,this paper studies the high-speed Mecanum wheel mobile robot in the application of playing badminton.First of all,this paper analyzes and compares the implementation schemes of a variety of omni-directional mobile robots,and determines the omni-directional mobile scheme based on Mecanum wheel.On the basis of omni-directional mobile scheme,the structure of high-speed Mecanum wheel omni-directional mobile robot is designed.The structure of mobile robot mainly includes driving unit,suspension unit and frame.Secondly,the strength of the motor axis is checked,which is the key component of the mobile robot.Finally,a simple swing manipulator is designed.Secondly,this paper establishes the corresponding kinematics model for the mobile robot,and provides the basis for the follow-up control.Because the mobile robot needs to achieve high-speed performance,the influence of different roller angles of Mecanum wheel on the speed performance of the mobile robot is analyzed.The appropriate roller angle parameters are selected.At the same time,the influence of the mobile robot on the speed and acceleration of the mobile robot is analyzed.In addition,the forward and inverse kinematics of the swing manipulator is established,and the corresponding swing action is designed.Furthermore,the software and hardware of the high-speed Mecanum wheel mobile robot are completed in this paper,which can realize the control of swing action and high-speed movement.The hardware part mainly includes the power source and the sensor feedback part,which select the motor,sensor and chip respectively.The upper computer software and the lower computer software are designed for robot.Then,this paper designs the position feedback and trajectory tracking algorithm of the mobile robot.Position feedback uses Kalman filter and dead reckoning to fuse UWB and inertial sensor data and feed back position information of mobile robot.The position information is the absolute position of the mobile robot in the coordinate system,so the measurement error caused by slip can be avoided.According to the characteristics of mobile robot,a fuzzy PID controller is designed as the track tracking algorithm.The algorithm can achieve good tracking effect for different trajectories at different speeds.Finally,the experimental prototype platform of high-speed mobile robot is built.For the tracking effect of different trajectory of mobile robot at different speeds,a verification experiment is designed.Taking badminton as the scene,the high speed of the robot is verified. |
