FLEXIBLE TWO-WHEEL SELF-BALANCE ROBOT SYSTEM AND MOTION CONTROL METHOD THEREOF

摘要

A flexible two-wheel self-balance robot system comprises a main controller (1), a motion controller (2), an auxiliary controller (3), a servo drive (4), sensors, an input-output device, a direct current motor (5) and a power supply system. A camera (12) is provided on the top board of a trunk (11). The trunk (6) and a chassis (8) are both provided with an inclinometer and a gyroscope. The trunk (6) is connected with the chassis (8) through a flexible joint (7) provided with a double-arm torsion spring (25) and a column spring (26). The main controller (1) is connected with the motion controller (2), the auxiliary controller (3), and the input-output device. The main controller (1) executes a motion behavior decision algorithm, the motion controller (2) executes a motion balance control algorithm and the servo drive (4) controls the torque of the motor (5), thus plane walking and remote control of the robot can be realized.