两轮差速移动机器人构型与运动学研究

Research on Configuration and Kinematics of Two-wheel Differential Mobile Robot

以两轮差速移动机器人为研究对象,分析了不同构型的优缺点及适用范围,提出了一种适合室内轻量搬运场景的构型,建立了运动学模型并提出了运动学参数校准的工程化方法,通过实验验证了模型的正确性和校准方法的有效性。

Taking the two-wheel differential mobile robot as the research object, this paper analyzes the advantages and disadvantages and application occasions of different configuration types, proposes a configuration suitable for indoor lightweight handling scenarios, establishes a kinematic model and proposes an engineering method for kinematic parameter calibration, and verifies the correctness of the model and the effectiveness of the calibration method through experiments.