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建立了四轮全向移动机器人的运动学模型和动力学模型,并分析了四轮全向移动机器人执行器的机械特性。在此基础上,利用反馈控制设计了四轮全向移动机器人的运动学控制器,利用逆动力学补偿控制设计了四轮全向移动机器人的动力学控制器,实现了基于动力学与运动学的四轮全向移动机器人轨迹跟踪控制系统设计。最后,利用Matlab/Simulink完成了基于动力学与运动学的四轮全向移动机器人轨迹跟踪控制仿真实验,实验结果验证了该轨迹跟踪控制方法的有效性。
The kinematics model and dynamics model of four-wheel omni-directional mobile robot are established, and the mechanical characteristics of the four-wheel omni-directional mobile robot are analyzed. Based on this, the kinematic controller of the four-wheel omni-directional mobile robot is designed by feedback control, and the dynamics controller of the four-wheel omni-directional mobile robot is designed by the inverse kinematics compensation control. The kinematics and dynamics Design of Trajectory Tracking Control System for Four Wheel Omni - directional Mobile. Finally, the trajectory tracking control simulation of a four-wheel omni-directional mobile robot based on dynamics and kinematics is completed by Matlab / Simulink. The experimental results verify the effectiveness of the trajectory tracking control method.