摘要
针对一种由5个单元体组成的多单元体运动机构,介绍了其组成情况及运动控制原理。阐述了有限状态机方法,并以此为基础建立了适于该多单元体机构的运动步态模型,并进行了分析,编制了相应的仿真算法,通过实验验证了该方法的可行性和模型的正确性,尤其对更多单元体组成的运动机构更为有效,从而为研究该类多单元体运动机构的运动步态问题提供了理论参考。
As for a kind of 5-unit mechanism, the structure and locomotive principle of these units are introduced respectively. The method of finite state machine is also explained. Based on this conception, the model of locomotive gait is built, and the related simulation arithmetic is also discussed. The results of simulation and experiment prove the feasibility of this method and the correctness of the model. This research has laid foundation for the study on the locomotive gait of the multi-unit mechanism.
出处
《测控技术》
CSCD
北大核心
2009年第4期83-86,90,共5页
Measurement & Control Technology
关键词
多单元体机构
有限状态机
运动步态
multi-unit mechanism
finite state machine(FSM)
locomotive gait