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本文介绍了全方位壁面移动机器人的运动控制问题.文中讨论了爬壁机器人的运动学正问题和运动学逆问题,并在此基础上建立了基于笛卡尔空间坐标的分解运动速度控制,给了了这种控制策略的PID调节器的参数选取以及仿真结果.
This paper introduces the motion control problem of the omnidirectional wall-moving robot.In this paper, the kinematic positive problem and kinematic inverse problem of the wall-climbing robot are discussed, and based on this, the velocity control of the decomposition motion based on Cartesian space coordinates is given, PID controller parameters of this control strategy selection and simulation results.