殷爱茹, 黄亚楼, 徐国华. 带拖车的移动机器人系统的动力学研究[J]. 机器人, 1999, 21(4): 282-287.
引用本文: 殷爱茹, 黄亚楼, 徐国华. 带拖车的移动机器人系统的动力学研究[J]. 机器人, 1999, 21(4): 282-287.
YIN Airu, HUANG Yalou, XU Guohua. STUDY ON DYNAMICS OF TRACTOR-TRAILER ROBOT SYSTEMS[J]. ROBOT, 1999, 21(4): 282-287.
Citation: YIN Airu, HUANG Yalou, XU Guohua. STUDY ON DYNAMICS OF TRACTOR-TRAILER ROBOT SYSTEMS[J]. ROBOT, 1999, 21(4): 282-287.

带拖车的移动机器人系统的动力学研究

STUDY ON DYNAMICS OF TRACTOR-TRAILER ROBOT SYSTEMS

  • 摘要: 本文研究由一个牵引车和N-1个拖车所组成的移动机器人系统的动力学.采用KANE方法建立此系统的动力学模型,其中导出式系数的计算采用了递归算法,基于此进一步给出拖车节数变化后系统动力学模型重构方法.

     

    Abstract: In this paper, a wheeled mobile robot system consisting of a tractor and N-1 trailers is studied. Based on Kanes approach, the dynamics equations of the system is established, especially the coefficients are computed using recursive algorithm. In this way, the reconstruction of the dynamics is discussed further after the number of the trailers has been changed.

     

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