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球形机器人的圆周运动分析 被引量：10

Circle Motion Analysis on a Spherical Robot
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摘要 用Kane方法对球形机器人的圆周运动进行运动学和动力学分析,推导出动力学模型.用Ⅲ型球形机器人对该模型进行仿真和实验,仿真和实验的结果验证了球形机器人圆周运动分析的正确性. Using Kane approach, the circle motion kinematics and dynamics of a spherical robot are analyzed and the dynamic model is derived. The model is simulated, and an experiment is made with the Spherical Robot Ⅲ. Simulation and experimental results support the circle motion analysis.
作者 王亮清 孙汉旭 贾庆轩
机构地区 北京航空航天大学机械工程及自动化学院 北京邮电大学自动化学院
出处 《机器人》 EI CSCD 北大核心 2007年第1期56-60,66,共6页 Robot
基金 国家自然科学基金资助项目(50175005)
关键词 球形机器人 运动学 动力学 KANE方法 spherical robot kinematics dynamics Kane approach
分类号 TP24 [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9

  • 1Xu Y S, Au S K W. Stabilization and path following of a single wheel robot[ J]. IEEE/ASME Transactions on Mechatronics, 2004,9(2) : 407 -419.
  • 2Halme A, Schonberg T, Wang Y. Motion control of a spherical mobile robot[ A]. Proceedings of the gth IEEE International Workshopon Advanced Motion Control[ C]. Piscataway, N J, USA. IEEE,1996. 259 - 264.
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  • 4Bhattacharya S, Agrawal S K. Spherical rolling robot: a design and motion planning studies[ A]. Proceedings of the IEEE International Conference on Robotics and Automation [ C ]. Piscataway, NJ,USA: IEEE, 2000. 835 - 839.
  • 5Amir Horaayoun Javadi A, Mojabi P. Introducing August: a novel strategy for an omnidirectional spherical roiling robot[ A]. Proceedings of the IEEE International Conference on Robotics and Automation[ C ]. Piscataway, NJ, USA : IEEE, 2002. 3527 - 3533.
  • 6Camicia C, Conticelli F, Bicchi A. Nonholonomic kinematics and dynamics of the Sphericle[ A]. Proceedings of the 2000 IEEE/RSJ International .Conference on Intelligent Robots and Systems [ C ].Piscataway, NJ, USA; IEEE, 2000. 805-810.
  • 7肖爱平,孙汉旭,谭月胜,马国伟,赵勇.一种球形机器人运动轨迹规划与控制[J].机器人,2004,26(5):444-447. 被引量：24
  • 8肖爱平．一种新颖的球形行走机器人的研究[D]．北京：北京邮电大学，2005．
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二级参考文献7

  • 1梅凤翔.非完整系统力学基础[M].北京:北京工业学院出版社,1985..
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  • 3Bicchi A, Balluchi A, Prattichizzo D, et al. Introducing the ''SPHERICAL'': an experimental testbed for research and teaching in nonholonomy[A]. Proceedings of the IEEE International Conference on Robotics and Automation[C]. Albuquerque, NM: IEEE, 1997.26
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  • 5Bhattacharya S, Agrawal S K. Spherical rolling robot: a design and motion planning studies[A]. Proceedings of the IEEE InternationalConference on Robotics and Automation[C]. San Francisco: IEEE,2000.835 - 839.
  • 6Homayoun A, Javadi A, Mojabi P. Introducing August: a novel strategy for an omnidirectional spherical rolling robot[A]. Proceedings of the IEEE International Conference on Robotics and Automation[C]. Washington DC: IEEE, 2002. 3527 - 3533.
  • 7Murray R R, Li Z, Sastry S S. A Mathematical Introduction to Robotic Manipulation[M]. Boca Raion, FL: CRC Press, 1993.

共引文献23

同被引文献61

引证文献10

二级引证文献47

机器人
2007年 第1期

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