| 一种四轮驱动全方向移动机器人的动力学建模 |
| |
| 引用本文： | 吴晨晨,乔兵. 一种四轮驱动全方向移动机器人的动力学建模[J]. 机电工程技术, 2012, 41(8): 144-147 |
| |
| 作者姓名： | 吴晨晨 乔兵 |
| |
| 作者单位： | 南京航空航天大学,江苏南京,210016 |
| |
| 摘 要： | 研究了一种基于双轮驱动座结构的全方向移动机器人动力学建模问题.首先根据机器人的结构特征研究了单个双轮驱动座的正运动学和反运动学问题,在此基础上推导出了双轮驱动座的正反向动力学方程,最后,根据双轮驱动座的运动学和动力学方程,建立了四轮驱动全方向移动机器人的运动学和动力学模型,并对模型的特点进行了分析.
|
| 关 键 词： | 全方向移动机器人 动力学建模 四轮驱动 |
Dynamic Modeling for an Omnidirectional Four-Wheel Driving Mobile Robot |
| |
| WU Chen-chen , QIAO Bing. Dynamic Modeling for an Omnidirectional Four-Wheel Driving Mobile Robot[J]. Mechanical & Electrical Engineering Technology, 2012, 41(8): 144-147 |
| |
| Authors: | WU Chen-chen QIAO Bing |
| |
| Affiliation: | (Nanjing University of Aero&Astronautics,Nanjing 210016,China) |
| |
| Abstract: | This paper deals with the dynamic modeling of an omnidirectional four-wheel driving mobile robot that is built on two dual-wheel caster assemblies.Firstly the direct/inverse kinematic/dynamic equations of the single dual-wheel caster assembly are developed based on its nonholonomic constraints.According to these equations,the direct/inverse kinematic/dynamic models of the proposed mobile robot are established.And finally the characteristic of the dynamic model is discussed which will be a guidance to handling the computational complexity of the model. |
| |
| Keywords: | omnidirectional mobile robot dynamic modeling four-wheel driving |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
