| 四轮驱动全方位移动机器人仿真 |
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| 引用本文： | 吴定会,黄旭东,纪志成. 四轮驱动全方位移动机器人仿真[J]. 微特电机, 2007, 35(2): 1-3,26 |
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| 作者姓名： | 吴定会 黄旭东 纪志成 |
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| 作者单位： | 江南大学,江苏无锡,214122 |
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| 基金项目： | 江苏省高技术研究发展计划项目 |
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| 摘 要： | 四轮驱动的全方位移动机器人，由于其能够在保持机体姿态不变的前提下沿任意方向运动，实现全方位移动的功能，具有较高的灵活性和机动性。建立了机器人的运动学模型，利用Matlab搭建了移动机器人系统的仿真模型，针对电机突加负载及车轮打滑两种情形进行了仿真分析，验证了前馈加外环控制的有效性。
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| 关 键 词： | 四轮驱动 全方位移动机器人 运动学模型 无刷直流电动机(BLDCM) Matlab仿真 |
| 文章编号： | 1004-7018（2007）02-0001-03 |
| 修稿时间： | 2006-08-042006-09-05 |
Simulation of Four-wheel Drive Omni-directional Robot Based on Matlab |
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| WU Ding-hui,HUANG Xu-dong,JI Zhi-cheng. Simulation of Four-wheel Drive Omni-directional Robot Based on Matlab[J]. Small & Special Electrical Machines, 2007, 35(2): 1-3,26 |
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| Authors: | WU Ding-hui HUANG Xu-dong JI Zhi-cheng |
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| Affiliation: | Southern Yangtze University, Wuxi 214122, China |
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| Abstract: | Four - wheel drive Omni - condition Robot, since it can run on the planar surface freely and realizes the omni - directional motion, under the precondition of keeping the stance of the robot, it possessed high flexibility and maneuverability. The kinematics model of the robot was designed and analyzed in this paper. The simulation model of mobile robot was built by the use of Matlab. The simulation of system under the condition of shock load and fault were studied and the experiment results are analyzed. It was demonstrated by the simulation results that the feed - forward control method with external - loop controller was valid. |
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| Keywords: | four - wheel driveo mni - directional mobile robot kinematics model brushless DC Motor Matlab simulation |
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