摘要
提出了差动驱动式移动机械手的运动规划算法。首先推导出差动驱动式移动机械手的运动学模型,其次给出了基于广义雅可比矩阵的差动驱动式移动机械手分解运动速度控制算法,最后用计算机仿真验证了该算法的正确性。
This paper presents the motion planning algorithm of a differential drive mobile manipulator. First, the kinematic modeling of a differential drive mobile manipulator is introduced. Then, a resolved motion rate control algorithm based on Generalized Jacobian Matrix is presented. Finally, the effectiveness of the algorithm is verified by computer simulation.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2004年第2期183-186,共4页
Journal of Astronautics
关键词
移动机械手
差动驱动
广义雅可比矩阵
运动规划
Mobile manipulator
Differential drive
Generalized Jacobian matrix
Motion planning
