中国机械工程
中國機械工程
중국궤계공정
CHINA MECHANICAl ENGINEERING
2012年
2期
166-171
,共6页
差速转向%探测机器人%移动系统%运动学%Householder变换
差速轉嚮%探測機器人%移動繫統%運動學%Householder變換
차속전향%탐측궤기인%이동계통%운동학%Householder변환
differential steering%exploration robot%moving system%kinematics%Householder transformation
为便于探测机器人的导航和跟踪控制，提出了差速转向的复合式移动机器人运动学模型的构建及求解方法。通过对差速转向复合式移动系统结构及运动特性进行分析，推导了探测机器人车体速度与后轮及承重轮速度之间的关系矩阵，提出采用Householder变换求解车体运动的方法，为探测机器人越障过程中位置和方位的估计提供了较准确的求解模型。最后对差速转向复合式机器人的行进过程进行仿真试验，验证了运动学模型的正确性及机器人的运动特性。
為便于探測機器人的導航和跟蹤控製，提齣瞭差速轉嚮的複閤式移動機器人運動學模型的構建及求解方法。通過對差速轉嚮複閤式移動繫統結構及運動特性進行分析，推導瞭探測機器人車體速度與後輪及承重輪速度之間的關繫矩陣，提齣採用Householder變換求解車體運動的方法，為探測機器人越障過程中位置和方位的估計提供瞭較準確的求解模型。最後對差速轉嚮複閤式機器人的行進過程進行倣真試驗，驗證瞭運動學模型的正確性及機器人的運動特性。
위편우탐측궤기인적도항화근종공제，제출료차속전향적복합식이동궤기인운동학모형적구건급구해방법。통과대차속전향복합식이동계통결구급운동특성진행분석，추도료탐측궤기인차체속도여후륜급승중륜속도지간적관계구진，제출채용Householder변환구해차체운동적방법，위탐측궤기인월장과정중위치화방위적고계제공료교준학적구해모형。최후대차속전향복합식궤기인적행진과정진행방진시험，험증료운동학모형적정학성급궤기인적운동특성。
In order to improve the accuracy of navigation,a kind of new method was presented to establish and solve the kinematics model of wheel--tracked exploration robot. By analyzing the structure of the moving system, a kinematics model of exploration robot was set up and kinematics equations were deduced. Then the kinematics relationships between the bodywork and the wheels were established,and the Householder transformation was used to estimate the least--squares solution of the kinematics equations, which provides an efficient method to obtain more accurate solutions. At last, the effect of the correctness of kinematic model and solution method was testified by computer simulation.
