基于指令预处理的机器人平滑运动控制研究

移动机器人平稳运动不仅有利于提高控制精度确保相关任务的完成，而且对减少机械磨损提高系统寿命密切相关。以双轮差速移动机器人系统为研究平台，提出了一种基于指令预处理的速度平滑控制方案。与传统调速控制方法不同的是，在对执行机构速度进行控制的过程中，理想速度指令不直接"生硬"地输入控制器，而是通过巧妙"柔性"预处理，生成新的更有利于平滑运动的控制指令，从而有效避免传统方法无法回避的抖动问题。针对典型的直线和曲线运动模式，建立了相关预处理严格的解析关系和算法，通过分析和现场测试，充分证实该控制方案既能有效减少系统执行器对电机驱动器的依赖，节约成本，又可显著增加运行的平稳性和平滑性，对保证机械结构长期安全健康工作十分有益。

The smooth and stable motion control of mobile robotics crucial not only for enhancing control accuracy and facilitating mission completion, but also for reducing mechanical tearing and wearing. In this paper, based on a mobile robot platform, we present a novel approach to smooth and stable motion control, significantly reducing the motion chattering phenomena inherent with traditional method. The main idea behind the approach is to pre-process the speed commands to generate new, more favourable smooth movement for the actuation device, so as to effectively avoid the traditional jitter problem. With this idea, we establish a set of formula and algorithms for typical straight lines and curves motion pattems. Rigorist' s analysis shows that the proposed method exhibits obvious benefits in reducing chattering as compared with traditional direct-command based method. Field experiment test demonstrates the effectiveness and simplicity of the proposed method. The results are deemed to be valuable for developing mobile robots with long-life and healthy operational capabilities.