第四讲机器人导论培训课件.pptVIP

Autonomous Mobile Robots, Chapter 3 ? R. Siegwart, I. Nourbakhsh Autonomous Mobile Robots, Chapter 2 ? R. Siegwart, I. Nourbakhsh Example: For example, suppose that wheel A is in a position such that a=0, b=0. This would place the contact point of the wheel on XI with the plane of the wheel oriented parallel to YI. If q=0 then sliding constraint (3.6) reduces to: 2014-2015学年第二学期第四讲机器人导论 标准轮/Fixed Standard Wheel 3.2.3 转向标准轮/Steered Standard Wheel 3.2.3 机器人运动学约束/Robot Kinematic Constraints ? 3.2.4 差动机器人案例/Example: Omnidirectional Robot 详见黑板上的推导过程/Presented on blackboard 3.2.5 移动机器人的