摘要
本文研究由一个牵引车和Ｎ－１个拖车所组成的移动机器人系统的动力学。采用ＫＡＮＥ方法建立此系统的动力学模型，其中导出式系数的计算采用了递归算法。
In this paper, a wheeled mobile robot system consisting of a tractor and N-1 trailers is studied. Based on Kanes approach, the dynamics equations of the system is established, especially the coefficients are computed using recursive algorithm. In this way, the reconstruction of the dynamics is discussed further after the number of the trailers has been changed.
出处
《机器人》
EI
CSCD
北大核心
1999年第4期282-287,共6页
Robot
