| 移动机器人的位姿误差分析 |
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| 引用本文： | 卢军民,刘俊,张平格. 移动机器人的位姿误差分析[J]. 机械工程与自动化, 2007, 0(5): 105-107 |
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| 作者姓名： | 卢军民 刘俊 张平格 |
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| 作者单位： | 1. 河北工程大学,机电学院,河北,邯郸,056038
2. 上海交通大学,机械与动力工程学院,上海,200030 |
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| 摘 要： | 从静态和动态两个方面分析了移动机器人平台位姿误差的主要来源,采用矩阵微分法建立了平台位姿误差的模型,并根据建模分析和平台实时位姿检测结果对机器人平台进行位姿补偿。
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| 关 键 词： | 静态 动态 位姿误差 位姿补偿 |
| 文章编号： | 1672-6413（2007）05-0105-03 |
| 修稿时间： | 2007-01-22 |
Analysis of the Position and Pose Error on the Mobile Robot Platform |
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| LU Jun-min,LIU Jun,ZHANG Ping-ge. Analysis of the Position and Pose Error on the Mobile Robot Platform[J]. Mechanical Engineering & Automation, 2007, 0(5): 105-107 |
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| Authors: | LU Jun-min LIU Jun ZHANG Ping-ge |
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| Affiliation: | 1.College of Mechanical and Electrical Engineering,Hebei University of Engineering,Handan 056038,China;2.School of Mechanical Engineering,Shanghai Jiaotong University,Shanghai 200030,China |
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| Abstract: | This article has analyzed the position and pose error of the mobile robot platform from the static state and the dynamic state,used the matrix differential method to establish the platform's position and pose error model,and carried on the position and pose compensation according to the error model analysis and detecting result to the robot platform. |
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| Keywords: | static state dynamic state position and pose error position and pose compensation |
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