The invention relates to the technical field of double-wheel balance cars, in particular to a static unstable wheeled mobile robot and a control method thereof. Comprising a first balancing device arranged on the front plate, a first balancing weight connected to the output end of the first balancing device, a second balancing device arranged on the rear plate and a second balancing weight connected to the output end of the second balancing device. Torque formed by rotation of a first balancing weight and a second balancing weight which are arranged on a front plate and a rear plate is controlled to generate torque for counteracting dumping of the robot, so that the balance state of the robot in the turning process is maintained, and the time of the balance state of the robot in the turning process is prolonged; therefore, the robot can conduct sharp turning with the minimum turning radius, the efficient and flexible turning requirement in a narrow area is met, and the technical problems that in the prior art, the turning radius is too large, and turning is not stable are effectively solved.

    本发明涉及双轮平衡车的技术领域,更具体地,涉及一种静态非稳定轮式移动机器人及其控制方法,包括设于所述前板的第一平衡装置、连接于所述第一平衡装置输出端的第一配重块、设于所述后板的第二平衡装置、及连接于第二平衡装置输出端的第二配重块,本发明的一种静态非稳定轮式移动机器人在进行急转弯时,通过控制分别设于前板和后板的第一配重块和第二配重块转动所形成的扭矩会产生抵消机器人倾倒的力矩,以维持机器人在转弯过程中的平衡状态,延长机器人转弯过程中的平衡状态的时间,从而实现机器人进行最小转弯半径的急转弯,满足狭窄区域内高效灵活的转弯需求,有效解决了现有技术中转弯半径过大、转弯不稳定的技术问题。


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    Titel :

    Static unstable wheeled mobile robot and control method thereof


    Autor / Urheber :

    Medientyp :

    Patent


    Format :

    Elektronische Ressource



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