| 基于SimMechanics的轮式移动机器人轨迹仿真 |
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| 引用本文： | 沈孝通.基于SimMechanics的轮式移动机器人轨迹仿真[J].机电工程技术,2011,40(10):78-82. |
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| 作者姓名： | 沈孝通 |
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| 作者单位： | 哈尔滨工业大学英才学院,黑龙江哈尔滨,150001 |
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| 摘 要： | 轮式移动机器人因具有非完整约束的不可积分性,其控制与规划等问题变得相当困难与复杂.利用SimMechanics工具,通过对轮式移动机器人平面运动的分析,建立了轮式移动机器人的运动学模型,并对其运动进行了多次的仿真,得到其运动轨迹,通过与理论轨迹的对比,验证了运动模型的正确性.该模型还提供了参数输入的接口,能够根据实际的...
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| 关 键 词： | 轮式移动机器人 SimMechanics 轨迹仿真 运动分析 |
Wheeled Mobile Robot Path Simulation Based on SimMechanics |
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| SHEN Xiao-tong.Wheeled Mobile Robot Path Simulation Based on SimMechanics[J].Mechanical & Electrical Engineering Technology,2011,40(10):78-82. |
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| Authors: | SHEN Xiao-tong |
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| Affiliation: | SHEN Xiao-tong(Honors School,Harbin Institute of Technology,Harbin150001,China) |
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| Abstract: | Wheeled mobile robot is characterized by non-holonomic constraint and non-integrablity.Its control and planning become very difficult and complex because of this.A wheeled mobile robot physical model is built according to motion equation based on SimMechanics.The motion is simulated many times,and the motion path is obtained.The physical model is verified by contrasting the motion path with theoretic path.This model also provides interfaces for inputting parameters,shows the motion path graphically by input... |
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| Keywords: | wheeled mobile robot SimMechanics path simulation motion analysis |
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