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为了解决移动机器人由于系统中存在不可积运动约束,不能直接应用旋量理论建模的问题,通过构造虚拟连杆首先把移动机器人转化成等价的固定基单自由度关节的开链机器人,然后基于运动旋量理论建立了移动机器人的运动模型,为移动机器人系统建模提供了一个简洁的新途径。基于所建立的移动机器人运动模型,设计了一个稳定的输出跟踪控制器。在Matlab下对移动机器人的建模和控制进行了仿真,验证了所提出的建模方法的可行性。
In order to solve the problem that the mobile robot can not directly use the theory of spin-volume modeling due to the in-motion constraint in the system, the robot is first transformed into an open-chain robot with fixed-base single-degree-of-freedom joints by constructing a virtual link. Based on the theory of motion spin, the motion model of mobile robot is established, which provides a concise new way for the modeling of mobile robot system. Based on the established model of mobile robot motion, a stable output tracking controller is designed. The modeling and control of mobile robot are simulated under Matlab, and the feasibility of the proposed modeling method is verified.