一类欠驱动移动机器人动力学分析

Dynamic Analysis of a Class of Underactuated Mobile Robot

带拖车的轮式移动机器人系统是典型的欠驱动、非完整系统.以带一节拖厢的卡车为具体分析对象,建立了其运动坐标系,在欠驱动、非完整动力学系统分析的基础上,提出了一种简化的Routh方程,并用简化的Routh方程分析了其动力学特性,给出了实际算例的仿真结果.

A wheel mobile robot with trailers is a typical nonholonomic, underactuated system. The paper analyzed the truck with one trailer. Firstly, the robot system's ordination is founded. Simple Routh equations are proposed according to dynamic analysis of a nonholonomic and underactuated system. The dynamics of the truck with one trailer are founded through using simple Routh equations. And, the paper gave the simulated results on computers. Some conclusions based on the results were presented.