轮腿式移动机器人越障运动学建模与仿真

Kinematic modeling and simulation of over-obstacle of wheel-leg mobile robot

根据轮腿式移动机器人的结构特点,以闭链坐标变换和瞬时重合坐标法为基本工具,详细推导了移动机器人的正、逆运动学模型,分析了相关的运动学特性,克服了单纯使用D-H规则描述移动机器人运动状态的局限性,使得移动机器人的运动状态能够用可控量予以表示,仿真证明了建模的有效性和正确性。

According to the structural characteristics of wheel-leg mobile robot,the forward and inverse kinematical models of mobile robot were derived in detail by using close-chain coordinate transformation and instantaneous coordinate coincidence as the basic tools,and the relevant kinematical features were analyzed.This method overcomes the limitation to describe the motion state of the mobile robot by simply using the D-H rule,making it possible to express the motion state of the mobile robot with controllable variables.The simulation result shows the validity and accuracy of modeling.