一类全方位移动机器人的不确定扰动数学模型

MATHEMATICAL MODEL WITH UNCERTAINTY FOR A CLASS OF OMNI-DIRECTION MOBILE ROBOT

摘要: 本文针对一类正交轮全方位移动机器人的机构特点，分析了运行中由于其结构因素引起机器人运动不稳定的主要原因．针对此类结构运动过程存在的不确定扰动问题，分析了它的产生机理及其变化规律，并推导出在该种不确定性扰动影响下的移动机器人动力学模型．该模型可为正交轮全方位移动机器人运动控制提供理论依据，具有较强的理论意义和应用价值．

Abstract: In this paper,the main reasons of unstability during movement is analyzed,according to the structure characteristics of a class of omni direction mobile robots.After the mechanism and its law of this disturbance are clear,the mathematical model with uncertainty of these robots is deduced.This model is of importance in theory and of value in practice for steady servo control in this class of omni direction mobile robots with orthogonal wheels.