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In order to meet the diversified storage requirements and improve the work safety and warehouse management level, a design of warehouse robot based on STM32 single chip computer is proposed. According to the functional requirements of the experimental environment, the corresponding mechanical structure is designed and the control hardware is selected. The sinusoidal speed regulation is used to control the speed of the robot in the process of starting and braking and to prevent the robot from producing too large shock due to the speed change too fast. At the same time, in order to solve the speed instability and deviation caused by unbalanced center of gravity and uneven distribution of ground friction coefficient, the CASADE PID algorithm of Angle ring and speed ring in series is used to control the motion. The experiment shows that the traveling speed of the robot can be flexibly set according to the actual demand, and the steady-state error between the actual speed and the preset speed is no more than 3%, and the real-time attitude adjustment can be carried out when the speed is stable, and the automatic correction can be made back to the preset trajectory when the deviation occurs.

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Research on Motion Control Algorithms for Asymmetric Robot Structures

  • 会议论文

  • 发表日期：

    2025年

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  • Qi Yang,
  • Xunyang Liang,
  • Yilu Wang,
  • Shida Wang,
  • Xingzhuo Huang

摘要

In order to meet the diversified storage requirements and improve the work safety and warehouse management level, a design of warehouse robot based on STM32 single chip computer is proposed. According to the functional requirements of the experimental environment, the corresponding mechanical structure is designed and the control hardware is selected. The sinusoidal speed regulation is used to control the speed of the robot in the process of starting and braking and to prevent the robot from producing too large shock due to the speed change too fast. At the same time, in order to solve the speed instability and deviation caused by unbalanced center of gravity and uneven distribution of ground friction coefficient, the CASADE PID algorithm of Angle ring and speed ring in series is used to control the motion. The experiment shows that the traveling speed of the robot can be flexibly set according to the actual demand, and the steady-state error between the actual speed and the preset speed is no more than 3%, and the real-time attitude adjustment can be carried out when the speed is stable, and the automatic correction can be made back to the preset trajectory when the deviation occurs.