机械工程学报模板2012.docVIP

轮式移动机器人运动学建模方法* (二号黑体) 常 勇1, 2 马书根1, 3 王洪光1 谈大龙1 (四号仿宋) (1. 中国科学院沈阳自动化研究所机器人学国家重点试验室 沈阳 110016；(五号宋体) 2. 中国科学院研究生院 北京 100039； 3. 日本立命馆大学机器人系 滋贺 525-8577 日本) 摘要(小五黑体)：研究轮式移动机器人运动学建模方法问题。提出用于不规则地形下的轮式移动机器人运动学建模方法——轮心建模法 (Wheel-center modeling, WCM)在分析多刚体链式结构运动的速度特性以及不规则地形上轮式移动机构转动角速度特性的基础上，建立车轮轮心速度的矢量表达式，即确立WCM。以六轮摇臂转向架月球漫游车的运动学建模为例，分析各关节转动角速度矢量在车体坐标系下的投影，并根据转动矢量方向在车体坐标系中变化与否，将矢量叉乘的投影写成不同的形式，利用车轮轮心坐标系、轮地接触坐标系相对于车体中心坐标系的齐次变换矩阵中的相应元素，将车轮轮心的速度矢量表达式投影到车体中心坐标系下，建立车体运动学模型，从中阐述WCM的方法和过程，并分析WCM的特点。用试验和仿真验证该建模方法的正确性。(小五宋体，摘要长度300~500字) 关键词(小五黑体)：双层辉光 人工神经网络 预测模型(小五宋体) 中图分类号(小五黑体)：TG156(小五Times New Roman) Research on ANN-based Prediction Model Used to Double Glow Plasma Surface Alloying Processing(小三) CHANG(姓大写) Yong1, 2 XXX Xxxxxx 1, 3 XXX Xxxxxx1 XXX Xxxxxx1(小四) (1. State Key Laboratory of Robotics, Shenyang Institute of Automation,Chinese Academy of Sciences, Shenyang 110016; 2. Graduate School, Chinese Academy of Sciences, Beijing 100039; 3. Department of Robotics, Ritsumeikan University, Shiga-ken 525-8577, Japan) (五号) Abstract(小五黑体)：The kinematic modeling method for a wheeled mobile robot is studied. A modeling method called wheel-center modeling (WCM) for kinematics of a wheeled mobile robot that moves on uneven terrain is presented. The vector expression of wheel center velocity is derived based on the analysis of the velocity characteristic of a multi rigid chain’s locomotion and the wheel-model moving mechanism’s moving on uneven terrain. The method of WCM is introduced as a result. The projection of the angular velocity of the rotary joints in the rover centre frame is analysed and the projection of vector cross product is expressed as different forms according to whether the direction of the angular velocity relatively to rover centre frame changes or not. The wheel centre velocity is projected to the rover body centre coordinate frame with the use of the elements of the homogeneous transformations from the wheel centre frame and the wheel-terrain