| 全方位AGV复合转向方法的运动分析与仿真 |
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| 引用本文： | 史恩秀,黄玉美,史文浩,高峰.全方位AGV复合转向方法的运动分析与仿真[J].西安理工大学学报,2004,20(2):126-130. |
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| 作者姓名： | 史恩秀 黄玉美 史文浩 高峰 |
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| 作者单位： | 西安理工大学,机械与精密仪器工程学院,陕西,西安,710048 |
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| 摘 要： | 对全方位AGV采用复合转向驱动控制进行了运动正、逆解的推导，并对其的运动约束进行了分析。该AGV改变了原AGV在运动灵活性方面存在的缺陷，除可实现普通AGV的运动方式(前进、后退和回转)外，还可以任意姿态实现沿任意路径的轨迹跟踪。通过仿真和实验验证了对其采用复合转向进行运动控制的可行性和有效性。
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| 关 键 词： | 全方位AGV 操舵角 轨迹跟踪 复合转向 |
| 文章编号： | 1006-4710(2004)02-0126-05 |
| 修稿时间： | 2003年10月11 |
Kinematics Analysis and Simulation of Composite Turning Method for Omni-Direction AGV |
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| SHI En-xiu,HUANG Yu-mei,SHI Wen-hao,GAO Feng.Kinematics Analysis and Simulation of Composite Turning Method for Omni-Direction AGV[J].Journal of Xi'an University of Technology,2004,20(2):126-130. |
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| Authors: | SHI En-xiu HUANG Yu-mei SHI Wen-hao GAO Feng |
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| Abstract: | The composite turning driving control is adopted to carry out the kinematic positive and reverse solution deduction of omni-directional AGV,and at the same time,whose kinematics constraints are analysed. AGV can change the existing defects in the kinematic flexibility of the original AGV.Apart from the realization of common AGV kinematic modes(moving forward and backward,and turning around),the trajectory tracking along the random pathway can be realized via any manners.The feasibility and validity controlled by the composite turning motion are tested via the simulations and experiments. |
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| Keywords: | omni-directional AGV steering angle trajectory tracking composite turning |
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