摘要
针对履带式移动机器人在其复杂工作环境下,履带发生纵向滑移导致行走路径难以跟踪控制的问题,采用纯追踪算法,在Matlab/Simulink软件中建立了履带机器人的运动学模型和跟踪控制系统模型并进行仿真。仿真结果表明,履带机器人位姿误差满足需求精度,轨迹跟踪效果良好,系统具有稳定性。
According to the phenomenon that the tracked mobile robot can hardly track its path because of＂ the caterpillar＇s lon- gitudinal slip under the eomplex work envilnment, the pure tracking algorithm is used to build and simulate the kinematir model and the track control system model of the tracked robot in the MATI, AB/Simulink software. The simulation results show that the position error accuracy could meet the requirements, and it has excellent trajectory tracking result, the system also has stability.
出处
《机械研究与应用》
2017年第6期77-78,81,共3页
Mechanical Research & Application
