摘要
轮式移动机器人因具有非完整约束的不可积分性,其控制与规划等问题变得相当困难与复杂。利用SimMechanics工具,通过对轮式移动机器人平面运动的分析,建立了轮式移动机器人的运动学模型,并对其运动进行了多次的仿真,得到其运动轨迹,通过与理论轨迹的对比,验证了运动模型的正确性。该模型还提供了参数输入的接口,能够根据实际的转速与转向,显示轮式移动机器人的运动轨迹,可作为虚拟对象,能够极大地方便轮式移动机器人的控制与规划。
Wheeled mobile robot is characterized by non-holonomic constraint and non-integrablity. Its control and planning become very difficult and complex because of this. A wheeled mobile robot physical model is built according to motion equation based on SimMechanics. The motion is simulated many times, and the motion path is obtained. The physical model is verified by contrasting the motion path with theoretic path. This model also provides interfaces for inputting parameters, shows the motion path graphically by inputting the actual revolving speed and direction, and acts as virtual object for controlling which is helpful for its control and planning.
出处
《机电工程技术》
2011年第10期78-82,共5页
Mechanical & Electrical Engineering Technology
