| 在球面运行的万向轮式移动机器人运动学模型的建立 |
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| 引用本文： | 仲欣,吕恬生. 在球面运行的万向轮式移动机器人运动学模型的建立[J]. 机器人, 1999, 21(3): 184-190 |
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| 作者姓名： | 仲欣 吕恬生 |
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| 作者单位： | 上海交通大学机器人研究所,200030 |
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| 摘 要： | 爬壁机器人技术的不断发展，使研制可以吸附在大型球面工作的轮式移动机器人成为可能．本文采用坐标变换方法，针对工作在球面的万向轮式移动机器人建立运动学模型．其建模方法对于其它类型的在球面工作的轮式移动机器人也同样适用．
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| 关 键 词： | 万向轮式移动机器人 运动学建模分类 特种机器人 |
KINEMATIC MODELING OF OMNIDIRECTIONAL WHEELED MOBILE ROBOTS RUNNING ON SPHERICAL SURFACES |
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| ZHONG Xin,LU Tiansheng. KINEMATIC MODELING OF OMNIDIRECTIONAL WHEELED MOBILE ROBOTS RUNNING ON SPHERICAL SURFACES[J]. Robot, 1999, 21(3): 184-190 |
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| Authors: | ZHONG Xin LU Tiansheng |
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| Abstract: | Thanks to the fast development of wall climbing robotics, development wheeled mobile robots which can run on large spherical surfaces is reasonable now. This paper deals with kinematic modeling of an omnidirectional wheeled mobile robot running on spherical surfaces by coordinate transformation method. The method in this paper is general, which is suitable for almost all kinds of wheeled mobile robots running on spherical surfaces. |
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| Keywords: | Omnidirectional wheeled mobile robot kinematic modeling spherical surface |
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