Kinematic Inverse Problem and Stability of Wheeled Mobile Robots
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摘要: 移动式机器人可以认为是操作机器人和步行机的组合,它具有更灵活和更大的工作空间.因此移动式机器人适合用于远程操作,无论是在太空还是地面,最通用的移动式机器人是轮式移动式机器人.轮子导致了非完整约束.在本文中,这种非完整约束以及有关的运动几何学得到了分析,在此基础上建立了轮式移动机器人运动学逆问题的两种求解公式.其次,提出了一种控制自运动的方法以解决活动平台的稳定性问题.这种方法通过仿真验证了其正确性.Abstract: Mobile robot can be regarded as the combination of a manipulator and a walking machine.It has more manoeuvrable and larger working-space.Thus,it is suitable for long-range operation both in the space and the ground.The most common used mobile robots are wheeled mobile robots(WMR).The wheeles lead to the non-holomotic constraints.In this paper,the non-holomotic constraints and kinematics geometry are analysed to formulate two solutions of the inverse-kinematic problems of WMR.Secondly,a method on controlling the self-motion of WMR is proposed to resolve the stability of the moving platform,which is verify by simulation.
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Key words:
- robots /
- stability /
- kinematics /
- mobile robot /
- nonholomotic constraint /
- self motion
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1 .Weisbin,Montemerlo M.NASA's telerobotics research program.Proc of 1992 IEEE Int Conf on Robotics and Automation,1992.2653~2666 2. Reister D B,Lenhart S M.Time-optimal paths for high-speed maneuvering.Int Jnl of Robotics Research, 1995(2):184~194 3. Kankyama. Two dimensional wheeled vehicle kinematics.Proc of 1994 IEEE Int Conf on Robotics and Automation,1994.3079~3084 4. Zhao Y,Bement L.Kinematics, dynamics and control of wheeled mobile robots.Proc of 1992 IEEE Int Conf on Robotics and Automation,1992.91~96 5. 梅凤翔.非完整系统力学.北京:北京工业大学出版社,1991 -
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