摘要
四轮驱动的全方位移动机器人,由于其能够在保持机体姿态不变的前提下沿任意方向运动,实现全方位移动的功能,具有较高的灵活性和机动性。建立了机器人的运动学模型,利用Matlab搭建了移动机器人系统的仿真模型,针对电机突加负载及车轮打滑两种情形进行了仿真分析,验证了前馈加外环控制的有效性。
Four - wheel drive Omni - condition Robot, since it can run on the planar surface freely and realizes the omni - directional motion, under the precondition of keeping the stance of the robot, it possessed high flexibility and maneuverability. The kinematics model of the robot was designed and analyzed in this paper. The simulation model of mobile robot was built by the use of Matlab. The simulation of system under the condition of shock load and fault were studied and the experiment results are analyzed. It was demonstrated by the simulation results that the feed - forward control method with external - loop controller was valid.
出处
《微特电机》
北大核心
2007年第2期1-3,26,共4页
Small & Special Electrical Machines
基金
江苏省高技术研究计划(BG2005014)
