赵新华, 曹作良. 可移动机器人的运动学模型与控制原理[J]. 机器人, 1994, 16(4): 215-218.
引用本文: 赵新华, 曹作良. 可移动机器人的运动学模型与控制原理[J]. 机器人, 1994, 16(4): 215-218.
ZHAO Xinhua, CAO Zuoliang. KINEMATIC MODELLING AND PRINCIPLE OF CONTROL OF WHEELED MOBILE ROBOTS[J]. ROBOT, 1994, 16(4): 215-218.
Citation: ZHAO Xinhua, CAO Zuoliang. KINEMATIC MODELLING AND PRINCIPLE OF CONTROL OF WHEELED MOBILE ROBOTS[J]. ROBOT, 1994, 16(4): 215-218.

可移动机器人的运动学模型与控制原理

KINEMATIC MODELLING AND PRINCIPLE OF CONTROL OF WHEELED MOBILE ROBOTS

  • 摘要: 本文首先对可移动机器人的运动学进行了分析,建立了运动学模型与控制结构图,然后采用时域分析法对此系统进行了校正,最后通过对此系统的仿真与时测实验,对各校正环节的参数进行了整定.

     

    Abstract: This paper analysed kinematics of wheeled mobile robots and established kinematic model lingand structure chart of control firstly,after that.corrected the system by means of analysis in the time field,finally,optimized the parameters of the corrective links through the imitation and the experiment of the system.

     

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