2023 轮腿平衡机器人框架

2023 轮腿平衡机器人框架

机器人基本信息

操作系统

ThreadX V6.1.7
CubeMX ThreadX 套件 V1.1

坐标系设置

关节电机坐标如图
除关节外, 底盘、云台按前左上
关节电机中点为原点
控制左右关节式均以右视图进行透视
五连杆逆时针旋转Theta为正
校准时，单侧关节上臂抵限位时置0，补偿角度 0.34472f rad

LQR版本控制器设计

本版本控制器基于哈工程设计。本坐标系中测量量需要进行转换后输入LQR。

已经尝试将状态空间方程中的变量换算到本坐标系，但均失败。哈工程坐标系选取是合理的

It seems that Github website cannot render matrix correctly.

系统变量

系统变量如下: $$ x = \begin{bmatrix} \theta \ \dot{\theta} \ x_b \ \dot{x_b} \ \phi \ \dot{\phi} \end{bmatrix}

u = \begin{bmatrix} T \ T_p \ \end{bmatrix} $$

变量名	解释
θ	倒立摆对地摆角
xb	机身位移
φ	底盘对地倾角

需要换算的三个变量的换算方式:

$$ \phi = -\phi_{pitch}\\ \theta = \theta_{FC} - \phi - \frac{\pi}{2} $$

变量名	解释	测量方式
φpitch	底盘坐标系下底盘对地倾角	底盘IMU Pitch角
θFC	关节坐标系下倒立摆摆角	五连杆正运动学

机器人控制

机器人控制状态

失能模式 MODE_IDLE

关闭机器人全部电机

逃逸模式 MODE_ESCAPE

机器人云台正常, 发射正常, 关节电机关闭, 轮电机开环控制

正常模式 MODE_NORMAL

机器人全部状态正常

状态切换操作

执行状态切换时, 错误标识符不会被清除
STATUS_IDLE -> STATUS_START -> STATUS_NORMAL
切换状态必须

机器人底盘运动状态

机器人状态为正常模式

机器人操纵

机器人状态控制

RobotStatue is only determinded by SW1, which means keyboard can not change that.

Direction is in operator's side

Remoter's rule is as fellow:

SW1 Place	RobotMode
Top	IDLE
Mid	ESCAPE
Down	NORMAL

In any mode and any statue, click Z would change robot into IDLE mode

In code, to adapt DT6 or MC7, switch is remap to 1-2-3 in the order of Top-Mid-Down.

In Idle mode, robot get into a safe mode. All parts are disabled. This mode is desigend for checking robot or move robot. When robot power on, it will get into this mode firstly.

Escape mode is designed for situation, which robot get stuck in a narrow place. In Escape mode, balance function will be disable. Wheel motor will get into an open-loop mode. However, gimbal will get into normal mode as ammbooster.

Normal mode means all parts work normally.

机器人移动

Robot can move in Escape mode and Normal mode.

Escape Mode

In Escape mode, robot chasis is under open-loop control, while robot won't keep banlance. The postive direction of chasis is the normal directon of the closest armor.

Key	Function	Triggering Condition
CH2	Spin	Push-Pull
CH3	Shuttle Moving	Push-Pull

Shuttle Mode

In shuttle mode, robot chasis is under close-loop controd. While moving, chasis will follow gimbal. Functions like side-mode, jumping will enable.

Key	Function	Triggering Condition
CH2	Rotate	Push-Pull
CH3	Shuttle Moving	Push-Pull

Jump

Robot will turn armor one side to elude ammo. Move shuttle will auto exit this mode.

Q1anWan/WheelBotLite