基于 Stewart 平台的对接机构及其基于信息融合算法的跟踪控制。

A Docking Mechanism Based on a Stewart Platform and Its Tracking Control Based on Information Fusion Algorithm.

机构信息

School of Mechatronical Engineering of Beijing Institute of Technology, Beijing 100081, China.

School of Electrical Engineering, Beijing Jiaotong University, Beijing 100044, China.

出版信息

Sensors (Basel). 2022 Jan 20;22(3):770. doi: 10.3390/s22030770.

DOI:10.3390/s22030770

PMID:35161517

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC8838872/

Abstract

Aiming at the problem of unmanned reconfiguration and docking of ground vehicles under complex working conditions, we designed a piece of docking equipment composed of an active mechanism based on a six-degree-of-freedom platform and a locking mechanism with multi-sensors. Through the proposed control method based on laser and image sensor information fusion calculation, the six-dimensional posture information of the mechanism during the docking process is captured in real time so as to achieve high-precision docking. Finally, the effectiveness of the method and the feasibility of the 6-DOF platform are verified by the established model. The results show that the mechanism can meet the requirements of smooth docking of ground unmanned vehicles.

摘要

针对复杂工况下地面车辆的无人重构和对接问题，设计了一种由基于六自由度平台的主动机构和多传感器的锁定机构组成的对接设备。通过提出的基于激光和图像传感器信息融合计算的控制方法，实时获取对接过程中机构的六维姿态信息，实现高精度对接。最后，通过建立的模型验证了该方法的有效性和六自由度平台的可行性。结果表明，该机构能够满足地面无人车辆平稳对接的要求。