| 三轮全向足球机器人结构设计与系统模型研究 |
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| 引用本文： | 牟学刚,朱劲,蒋平. 三轮全向足球机器人结构设计与系统模型研究[J]. 机械与电子, 2006, 0(5): 38-41 |
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| 作者姓名： | 牟学刚 朱劲 蒋平 |
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| 作者单位： | 同济大学,上海,200092 |
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| 摘 要： | 讨论了RoboCup中型组足球比赛中，全向机器人的结构设计及其控制方法，以所设计的三轮驱动的全向机器人为例，对系统进行了运动学以及动力学的分析与建模，最后对系统运动性能进行了分析探讨。
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| 关 键 词： | RoboCup中型组 足球机器人 全向运动 结构设计 |
| 文章编号： | 1001-2257（2006）05-0038-04 |
| 收稿时间： | 2005-12-21 |
| 修稿时间： | 2005-12-21 |
Research on Structural Design and Modeling of a Three-wheel Omni-directional Soccer Robot |
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| MU Xue-gang,ZHU Jin,JIANG Ping. Research on Structural Design and Modeling of a Three-wheel Omni-directional Soccer Robot[J]. Machinery & Electronics, 2006, 0(5): 38-41 |
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| Authors: | MU Xue-gang ZHU Jin JIANG Ping |
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| Affiliation: | Tongji University,Shanghai 200092,China |
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| Abstract: | This paper focuses on the research of mechanical structure design and controlling of a robot for the competition in RoboCup middle size league. Using the example of the robot with three omni- directional wheels,which has been designed by ourselves,and then model and analyze the kinematics and dynamics of the system, at last, we discuss omni - directional the movement capability of this system. |
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| Keywords: | RoboCup middle size league soccer robot omni - directional movement structure design |
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