一种全方位移动机器人的运动学分析

邓旭玥, 易建强, 赵冬斌. 一种全方位移动机器人的运动学分析[J]. 机器人, 2004, 26(1): 49-53.

引用本文:

邓旭玥, 易建强, 赵冬斌. 一种全方位移动机器人的运动学分析[J]. 机器人, 2004, 26(1): 49-53.

DENG Xu-yue, YI Jian-qiang, ZHAO Dong-bin. KINEMATIC ANALYSIS OF AN OMNIDIRECTIONAL MOBILE ROBOT[J]. ROBOT, 2004, 26(1): 49-53.

Citation:

DENG Xu-yue, YI Jian-qiang, ZHAO Dong-bin. KINEMATIC ANALYSIS OF AN OMNIDIRECTIONAL MOBILE ROBOT[J]. ROBOT, 2004, 26(1): 49-53.

KINEMATIC ANALYSIS OF AN OMNIDIRECTIONAL MOBILE ROBOT

摘要: 介绍了本所开发的全方位移动机器人的机械结构，分析了它的运动学模型．并在此基础上，讨论了几种特殊的运动方式．最后分析了实际存在的滑动对模型的影响．

Abstract: In this paper,the mechanical structure of the omnidirectional mobile robot developed by our institute is introduced,and the kinematics analysis is presented. Then some special motions are discussed in detail,and the influence of slip on the kinematic model accuracy is analysed.

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