MATHEMATICAL MODEL WITH UNCERTAINTY FOR A CLASS OF OMNI-DIRECTION MOBILE ROBOT
LIU Kai-zhou1, DONG Zai-li2, SUN Mao-xiang1
1. School of Information Science and Engineering. Shenyang University of Technology; 2. Shenyang Institute of Automation, Chinese Academy of Sciences Key Robotics Laboratory. Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
刘开周, 董再励, 孙茂相. 一类全方位移动机器人的不确定扰动数学模型[J]. 机器人, 2003, 25(5): 399-403..
LIU Kai-zhou, DONG Zai-li, SUN Mao-xiang. MATHEMATICAL MODEL WITH UNCERTAINTY FOR A CLASS OF OMNI-DIRECTION MOBILE ROBOT. ROBOT, 2003, 25(5): 399-403..
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.
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