Robot and control method thereof
Robot and control method thereof
- Neue Suche nach: JEONG HUN
- Neue Suche nach: CHOI JIN
- Neue Suche nach: ZHAO SHANMING
- Neue Suche nach: JEONG HUN
- Neue Suche nach: CHOI JIN
- Neue Suche nach: ZHAO SHANMING
The invention relates to a robot and a control method thereof. The robot includes: a main body; a pair of wheels rotatably provided at a lower portion of the main body; a cargo tank provided at an upper portion of the main body; an inertial measurement sensor configured to measure an inclination angle of the main body; a pair of wheel encoders configured to measure a rotation angle of each of the pair of wheels; a cargo tank encoder configured to measure an inclination angle of the cargo tank; a pair of wheel motors configured to transmit torque to each of the pair of wheels; a cargo tank motor configured to transmit torque to the cargo tank; and a controller. The controller is configured to control the pair of wheel motors and the cargo tank motor to cause the robot to perform a dual-axis inverted pendulum motion on an axis of each of the pair of wheels and the cargo tank.
本发明涉及机器人及其控制方法，所述机器人包括：主体；一对轮子，其可旋转地设置在主体的下部；货物箱，其设置在主体的上部；惯性测量传感器，其配置为测量主体的倾斜角度；一对轮编码器，其配置为测量一对轮子的每个轮子的旋转角度；货物箱编码器，其配置为测量货物箱的倾斜角度；一对轮电机，其配置为将扭矩传递至一对轮子的每个轮子；货物箱电机，其配置为将扭矩传递至货物箱；以及控制器。控制器配置为控制一对轮电机和货物箱电机，以使得机器人在一对轮子和货物箱的每一者的轴线上进行双轴线倒立摆运动。
Dokumentinformationen
Robot and control method thereof
机器人及其控制方法
2024-04-30
Patent
Elektronische Ressource
Chinesisch
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