摘要
通过D-H坐标变换法,建立单侧摇臂对移动机器人平台的运动学模型,然后根据矢量迭加的方法,综合考虑双侧摇臂作用对机器人平台位姿影响,建立了移动机器人平台位姿估计系统模型,为平台控制系统的设计提供了理论的依据。
We use the method of D-H Coordinate Transformation to build the kinematics model of the robot＇s platform based on single side rocker, then hands over the method according to the vector which adds, considered the double sides rockers＇ function to the robot platform＇s position and pose influence, and establish the mobile robot platform＇s position and pose estimate system model which will supply an absolutely necessary. theory foundation to the design of the robot＇s platform motion control system.
出处
《机械工程师》
2007年第6期41-44,共4页
Mechanical Engineer
关键词
移动机器人
运动学模型
平台位姿
mobile robot
kinematics model
platform＇s position and pose
