Kinematics and Dynamic Modeling and Simulation Analysis of Three-wheeled Mobile Robot

被引：0
|
作者：
Du, Yun [1 ]
机构：
[1] Hebei Univ Sci & Technol, Coll Elect Engn, Shijiazhuang 050054, Peoples R China
来源：
2016 INTERNATIONAL CONFERENCE ON MECHANICS DESIGN, MANUFACTURING AND AUTOMATION (MDM 2016) | 2016年
关键词：
Nonholonomic constraints; Kinematics model; Dynamic model; Wheeled robot; Coordinate transformation; Lagrange equation;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
Mobile robot is a typical nonlinear control system with nonholonomic constraints, so the system presents some complex features, and the system control becomes quite difficult. But nonholonomic makes robot structure has higher flexibility and reliability. Kinematics model and dynamic model are the foundations for system design and analysis of dynamic and kinematics performance, and are also the guarantee of controller practicability. After finishing nonholonomic characteristic analysis, coordinate transformation method and Lagrange equation method are used to establish kinematics and dynamic model of three-wheeled mobile robot with two driving wheels in this paper. The rationality and validity of the models are verified by simulation result of trajectory tracking.
引用
收藏
页码：439 / 445
页数：7
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