摘要
在麦克纳姆轮等全方位轮的基础上,提出了一种新式全方位轮结构,然后用这种全方位轮构造出一种新型轮式移动机器人的走行机构。对这种新型全方位轮式移动机器人的运动学、动力学模型进行推导,并在此基础上给出这种轮式移动机器人的运动控制方法。最后给出了全方位轮式移动机器人的圆弧轨迹跟踪的仿真结果。
This paper discusses a new kind all-directional wheel on the base of Mecanum Wheel and other all-directional Wheels.This kind of wheels corrects some defects of the former Mecanum Wheel and greatly enhances the agility of our robot.In addition,the construction of the robot is more simplified than ever.We built a new kind of Wheeled Mobile Robot on the base of these wheels.It can not only change its pose easily,but largely simplify the control method.This paper deduces the kinematics,dynamics and simulation results of this new kind of robot and gives the kinematics control of it.In the end we give the simulation results of tracking a circle and the result is satisfactory.
出处
《长春工程学院学报（自然科学版）》
2006年第2期71-74,共4页
Journal of Changchun Institute of Technology：Natural Sciences Edition
关键词
全方位轮
麦克纳姆轮
轮式移动机器人
轨迹跟踪
位姿
omnidirectional wheel
mecanum wheel
wheeled mobile robot
trajectory tracking
pose
