Research On Dynamics And Servo Constraint Control Of Wheeled Robot Considering Slip Problem

Wheeled robots have become one of the hotspots in the research field of inclusive robotics due to their extremely high mobility and controllability.Most of the current research usually assumes that the wheeled robot travels in a structured environment.It is assumed that the wheel and the ground are in close contact with each other and there is no slip.The established dynamic model has been widely used in two-dimensional problems.With the continuous expansion of the application scenarios and scope of wheeled robots,wheeled robots operating in dynamic and unknown unstructured environments have gradually received extensive attention from scholars.Accurate analysis of the trajectory tracking and control of wheeled robots requires.The effects of longitudinal and lateral slip are fully considered in the dynamic prediction model,and there are few related studies at present.This paper takes the wheeled robot as the specific research object,and the main research work is as follows:(1)Based on the virtual power principle,the kinematics and dynamic equations of the wheeled robot are established.In an unstructured environment,the wheeled robot will face complex external loads.Under the modeling framework of the virtual power principle,only the virtual power of any load can be coupled into the global dynamic equation.The modeling and control of the larger model facilitates.(2)Driven by an integrated wheeled robot in an unstructured scene,a variety of friction models commonly used in mechanical system dynamics are compared,especially the Lu Gre friction model from the selection of integrator,the control of integral parameters,and the identification of dynamic parameters.The model is described.The linear complementary model is introduced to describe the normal contact force between the wheel and the ground,which overcomes the disadvantage of the continuous contact force model in solving smooth contact problems.The accuracy of the proposed method is verified by numerical examples.(3)Facing the unstructured environment application scenario,the dynamic contact model was introduced to analyze the complex non-smooth dynamic behavior between the wheel and the ground of the wheeled robot,and an efficient and accurate prediction model of the wheeled robot system dynamics considering the stick-slip friction was established,and lateral slip analysis,and compared with the simulation results of the system dynamics model established based on nonholonomic constraints to verify the accuracy of the model.(4)To explore the solution to the trajectory tracking problem of wheeled robots considering slippage,for wheeled robots running in unstructured environments,a servo constraint control method based on the principle of virtual power is studied.Driving torque;by tracking and controlling the target trajectory of the two-wheeled wheeled mobile robot with relative slip,it is proved that the method can realize the tracking control of the target trajectory of the wheeled robot.