According to the rope winding and unwinding control method for rope system wheel type mobile robot movement synchronization tension correction, rope winding and unwinding and vehicle body movement synchronization are utilized, the rope tension serves as correction of the rope winding and unwinding speed, and comprehensive optimization of the wheel driving motor torque and the rope tension can be achieved. The method is small in calculation amount, easy to implement and good in rope tension and take-up and pay-off control performance, operation power consumption of the tethered robot can be reduced, abrasion of the rope is reduced, the service life of the rope is prolonged, and the detection capacity of the robot is improved.
本发明提供了一种绳系轮式移动机器人运动同步张力修正的绳索收放控制方法,利用绳索收放和车体运动同步,绳索张力作为绳索收放速度的修正,能够实现车轮驱动电机力矩和绳索张力的综合优化。本发明运算量小,实现简单,绳索张力和收放控制性能好,可降低绳系机器人的运行功耗,降低绳索的磨损,提高绳索的使用寿命,提高机器人的探测能力。
Rope take-up and pay-off control system and method for tension correction of rope-tied wheeled mobile robot
绳系轮式移动机器人张力修正的绳索收放控制系统及方法
2023-03-31
Patent
Electronic Resource
Chinese
IPC: | B66D Haspeln , CAPSTANS |
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