四轮全方位移动机器人各向相异性的研究.pdfVIP

2 3 Vol. 2 . 3 2007 6 CAAI T ransactions on Intelligent Systems Jun. 2007 冷春涛, 曹其新 ( 上海交通大学 机器人研究所, 上海 200030) : , , , ( anisotro y) . , 4 , , , , , . MatlabADAMS , . , , . : ; ; :T P24 : A :2007) Anisotropy of 4wheeled omnidirectionally mobile robots LENG Chuntao, CA O Qixin ( Research Institute of Robotics, Shanghai Jiaotong University , Shanghai 200030, China) Abstract: Due to the s ecial structure of omnidirectional w heels, the maximum velocity that a robot can a chieve is different w hen the robot moves in different directions, and acceleration in different directions also varies. This is called anisotro y . T o understand issues w ith omnidirectionally mobile robots, kinematic and dynamic models w ere established and the effects of anisotro y discussed. The relationshi betw een the arrangement of omnidirectional w heels and the curve of maximal velocity w as then determined. In order to reduce the effects of sli ing on results, values of torques w ere given on every w heel that w as being driven w hile the robot moved in each direction w ith acceleration. Simulations by ADAM S and MATLAB, and our ex eriments, verify the effectiveness of the theory. T his thorough study of the anisotro y of omnidirec tionally mobile robots rovides a foundation for o timization of their control. Keywords: omnidirectional mobile robot; omnidirectional w heel; anisotro y , . [ 2- 3] , , , , , , 3 , ; [4] , , , . , , , [ 1] , , [ 2] . . [ 5- 6] , , , 4 , 4