| Citation: | LIU Benyong, GAO Feng, JIANG Hui, et al. Attitude control algorithm of balancing-arm mobile robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(2): 391-398. doi: 10.13700/j.bh.1001-5965.2017.0111(in Chinese)
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In order to improve the stability of working platform in the process of obstacle negotiation, with balancing-arm mobile robot as research object, an attitude control algorithm was designed based on nonlinear programming genetic algorithm. First, the simplified model of balancing-arm mechanism was built and spatial posture parameters were defined to character the space state of robot. Mathematical relationship between spatial posture parameters and wheel center positions was deduced by coordinate transformation equation based on spatial mechanism. Then, a nonlinear programming genetic algorithm was designed. The genetic algorithm fitness function used to solve objective control parameters was established under the constraint of stability. To verify the performance of the proposed attitude control algorithm, 3D model of the mobile robot and road were built in the ADAMS software, and then kinematics simulation studies were carried out by ADAMS and MATLAB/Simulink. The results of simulation show that when balance-arm mobile robot passes through the designed obstacles with the designed controller, the roll angle falls from 10.8° to 1.8° compared with no controller and the amplitude of wheel center position falls from 96.4 mm to 34.9 mm as also. The simulation results demonstrate the validity of the proposed attitude control algorithm.
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