摘要
针对轮式移动机器人的运动学建模问题,基于ICC坐标变换法,提出一种解决差动移动机器人运动学建模的通用方法 ,建立了在满足理想运动约束条件下的运动学模型,并以具有两个驱动轮的差动移动机器人RoomBa为例,搭建半实物仿真平台,进行了运动学仿真,仿真结果显示该建模方法符合实际应用要求,为下一步的运动规划提供了理论基础。
method, For wh propose kinematics model robot RoomBa as Simulation result eeled mobile robot kinematics modeling, and based on the ICC coordinate transformatio a common method to solve the differential mobile robot kinematics modeling and establis under the desired movement constraints. The paper takes two differential wheel mobil an example, and builds semi-physical simulation platform for the kinematic simulation s show that the modeling approach is consistent with the actual application requirement and provide a theoretical basis for the next motion planning.
出处
《无锡职业技术学院学报》
2013年第3期48-51,共4页
Journal of Wuxi Institute of Technology
关键词
半实物平台
ICC坐标变换法
差动
建模
semi-physical Platform
ICC coordinate transformation method
differential movement
modeling
