| 轮腿式移动机器人运动学分析与仿真 |
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| 引用本文： | 刘佳,尹淑彦,王丽敏.轮腿式移动机器人运动学分析与仿真[J].科技信息,2010(23):I0054-I0055. |
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| 作者姓名： | 刘佳 尹淑彦 王丽敏 |
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| 作者单位： | [1]邢台职业技术学院机电系,河北邢台054000 [2]天津长荣印刷设备股份有限公司,中国天津300400 |
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| 摘 要： | 本文根据轮腿式移动机器人的结构特点,利用D-H规则建立并详细推导了移动机器人的正、逆运动学模型,分析了相关的运动学特性,仿真证明了建模的有效性和正确性。
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| 关 键 词： | 移动机器人 运动学 仿真 |
Kinematic Modeling And Simulation Of Wheel-leg Mobile Robot |
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| LIU Jia,YIN Shu-yan,WANG Li-min.Kinematic Modeling And Simulation Of Wheel-leg Mobile Robot[J].Science,2010(23):I0054-I0055. |
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| Authors: | LIU Jia YIN Shu-yan WANG Li-min |
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| Institution: | 1 (1.Xingtai Polytecnic College, Xingtai Hebei, 054000, China;2.Tianjin Changrong Printing Equipment Co. Ltd. , Tianjin,300400, China) |
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| Abstract: | According to the structural characteristics of Wheel-leg Mobile Robot, using the D—H method, the paper establishes and deduces the forward and inverse kinematical model of Mobile Robot. The kinematical features are analyzed. The simulation shows the validity and accuracy of modeling. |
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| Keywords: | Mobile robot Kinematic Simulation |
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