摘要
近年来国内外对非完整移动机器人的理论及应用研究受到越来越广泛地关注 ,特别是对所进行的实验研究 ,具有深刻的实际意义。本文系统介绍了我们自行研制的非完整两轮驱动移动机器人的实验平台及其各个部分必要的程序实现 ,并在该平台上进行了跟踪控制实验。
Considerable attention has been paid on the theory and application of nonholonomic mobile robots in recent years. This paper systematically introduces the nonholonomic two-wheel driven mobile robot experimental platform developed by the authors, and its programming implementations. On-line implementation results for the trajectory tracking problem are also included to show its validity.
出处
《机器人技术与应用》
2001年第1期36-40,共5页
Robot Technique and Application
关键词
移动机器人
实验平台
伺服电机
伺服放大器
mobile robot
experimental platform
servo motor
determination of direction
