一种球形机器人运动轨迹规划与控制

肖爱平; 孙汉旭; 谭月胜; 马国伟; 赵勇

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.

引用本文:

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[J]. ROBOT, 2004, 26(5): 444-447,460.

Citation:

XIAO Ai-ping, SUN Han-xu, TAN Yue-sheng, MA Guo-wei, ZHAO Yong. Movement Trajectory Planning and Control for a Spherical Robot[J]. ROBOT, 2004, 26(5): 444-447,460.

一种球形机器人运动轨迹规划与控制

Movement Trajectory Planning and Control for a Spherical Robot

摘要

摘要: 阐述一种非完整欠驱动系统的控制设计和运动规划策略，研制出一种全新的全方位行走机器人，由于其具有特殊的灵活性，可应用于各种不同的场合．

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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