Movement Trajectory Planning and Control for a Spherical Robot
XIAO Ai-ping1, SUN Han-xu1, TAN Yue-sheng2, MA Guo-wei1, ZHAO Yong 1
1. School of Automation, Beijing University of Post and Telecommunications, Beijing 100876, China; 2. Institute of Robotics, Beihang University, Beijing 100083, China
肖爱平, 孙汉旭, 谭月胜, 马国伟, 赵勇. 一种球形机器人运动轨迹规划与控制[J]. 机器人, 2004, 26(5): 444-447,460..
XIAO Ai-ping, SUN Han-xu, TAN Yue-sheng, MA Guo-wei, ZHAO Yong . Movement Trajectory Planning and Control for a Spherical Robot. ROBOT, 2004, 26(5): 444-447,460..
Abstract:Movement planning strategy and control design for a nonholonomic and underactuated system is introduced in this paper, and a firenew omnidirectional mobile robot, which can be used in various fields with its excellent flexibility, has been developed.
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