摘要
为实现对微小型履带式移动机器人的最优控制,以微小型覆带式移动机器人原型为基础,利用ADAMS建立该机器人的模型,并设置材料属性、关节等,并根据实际情况施加各种受力,通过自编子程序模拟路面情况,对其在不同路面情况下的运动特性进行了仿真分析。仿真结果表明,该方法能为机器人的结构优化和运动控制提供依据。
In order to achieve the optimal control of mini-tracked mobile robot, taking mini-tracked mobile robot plototype as basic, established robot model using ADAMS, and setting material properties, joints and all kinds of possible forces of this robot are added in this environment according to the physical circumstances. Terrain characteristics are applied to the model using subroutines, and then the locomotion characteristics of the mini-tracked mobile robot are achieved after the simulation analysis. The result shows that the method can prove reference for structural optimization and kinetic control of robot.
出处
《兵工自动化》
2010年第2期37-39,42,共4页
Ordnance Industry Automation
