| 模块化四轮全向驱动小车设计与运动控制方法 |
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| 引用本文： | 郑圣子.模块化四轮全向驱动小车设计与运动控制方法[J].天津科技大学学报,2013(5):61-65. |
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| 作者姓名： | 郑圣子 |
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| 作者单位： | 天津科技大学机械工程学院,天津,300222 |
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| 摘 要： | 设计了模块化四轮驱动机器人,基于采用AVR单片机的运动控制提出了模块化四轮全向驱动简化运动学模型.在对模型详细分析的基础上,提出通过改变曲率半径实现对小车运行轨迹进行控制的方法.实验表明,提出的运动控制方法简单可靠,满足设计要求.
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| 关 键 词： | 模块化设计 曲率半径 运动学模型 |
Kinematic Control and Modular Design of 4-wheel Omin-driectional Driving Robot |
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| ZHENG Shengzi.Kinematic Control and Modular Design of 4-wheel Omin-driectional Driving Robot[J].Journal of Tianjin University of Science & Technology,2013(5):61-65. |
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| Authors: | ZHENG Shengzi |
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| Institution: | ZHENG Shengzi (College of Mechanical Engineering, Tianjin University of Science ＆ Technology, Tianjin 300222, China) |
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| Abstract: | A 4-wheel omni-driectional driving robot was designed, and a 4-wheel omni-directional driving kinematic model was proposed based on AVR microcontroller control. Detailed analysis of the robot model shows that the robot can be con- trolled and the predesigned trajectory can be obtained through continuously altering the curvature radius. Experimental re- sults indicate that the kinematic control method is simple and reliable; the accuracy of trajectory satisfies the design require- ments. |
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| Keywords: | modular design curvature radius kinematic model |
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