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一种球形机器人的运动特性分析 被引量：3

The Kinematic Analysis of A Spherical Mobile Robot
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摘要 本文中的球形机器人是一种新型行走机器人,属于非完整欠驱动系统。它利用两个电机作为动力输入,通过改变配重重心的位置实现了球形机器人沿任意方向的运动。由于已有的研究结果无法使球形机器人的运动控制按照一个系统的运算法则运行,所以本文规划了多种球形机器人的基本运动轨迹。从理论上计算球形机器人按照规划轨迹运动的反解和控制方法,为球形机器人的实验提供了理论依据。 The spherical mobile robot in this paper is a new type mobile robot, which is a nonholonomic system. It has two motors used as the inside driving units. Omnidirectional movements are possible through changing the position of a weight. The design and the mathematical models on kinematics are developed in this paper.
作者 肖爱平 孙汉旭 廖启征 谭月胜
机构地区 北京邮电大学自动化学院 北京航空航天大学机器人研究所
出处 《机电产品开发与创新》 2005年第1期1-4,35,共5页 Development & Innovation of Machinery & Electrical Products
基金 国家自然科学基金项目(50175005) 教育部科学技术研究重点项目(01040)
关键词 球形机器人 非完整系统 Spherical Mobile Robot Nonholonomic System
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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参考文献15

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二级参考文献13

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共引文献106

同被引文献13

引证文献3

二级引证文献9

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