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驾驶机器人机械腿动力学建模与仿真分析

刘坤明 徐国艳 余贵珍

刘坤明, 徐国艳, 余贵珍等 . 驾驶机器人机械腿动力学建模与仿真分析[J]. 北京航空航天大学学报, 2016, 42(8): 1709-1714. doi: 10.13700/j.bh.1001-5965.2015.0519
引用本文: 刘坤明, 徐国艳, 余贵珍等 . 驾驶机器人机械腿动力学建模与仿真分析[J]. 北京航空航天大学学报, 2016, 42(8): 1709-1714. doi: 10.13700/j.bh.1001-5965.2015.0519
LIU Kunming, XU Guoyan, YU Guizhenet al. Dynamic modeling and simulation analysis of robot driver's mechanical legs[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(8): 1709-1714. doi: 10.13700/j.bh.1001-5965.2015.0519(in Chinese)
Citation: LIU Kunming, XU Guoyan, YU Guizhenet al. Dynamic modeling and simulation analysis of robot driver's mechanical legs[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(8): 1709-1714. doi: 10.13700/j.bh.1001-5965.2015.0519(in Chinese)

驾驶机器人机械腿动力学建模与仿真分析

doi: 10.13700/j.bh.1001-5965.2015.0519
基金项目: 国家自然科学基金(61371076,51105021)
详细信息
    作者简介:

    刘坤明,男,硕士研究生。主要研究方向:智能车辆环境感知技术。Tel.:15210966824。E-mail:ldkccss@163.com;徐国艳,女,博士,副教授,硕士生导师。主要研究方向:智能车辆环境感知技术。Tel.:15810771808。E-mail:xuguoyan@buaa.edu.cn

    通讯作者:

    徐国艳,Tel.:15810771808,E-mail:xuguoyan@buaa.edu.cn

  • 中图分类号: TP242.6

Dynamic modeling and simulation analysis of robot driver's mechanical legs

  • 摘要: 为提高驾驶机器人的设计效率,对机器人的机械腿进行了动力学分析与建模,并建立了机器人驾驶车辆的联合仿真模型。机械腿动力学模型由机械结构和伺服电机两部分组成,其仿真模型由ADAMS和MATLAB/Simulink软件共同建立,在此基础上引入CarSim软件建立车辆模型,并以Simulink为平台建立了基于闭环速度控制的“驾驶机器人-车辆”联合仿真模型。仿真结果表明,驾驶机器人机械腿的动力学模型具有良好的动态响应特性,且所搭建的联合仿真模型能够完成基本的车速跟踪仿真实验,为下一步改进驾驶机器人的机械结构及控制策略提供了虚拟样机模型。

     

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出版历程
  • 收稿日期:  2015-08-10
  • 刊出日期:  2016-08-20

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