三连杆轮式车辆的动力学与控制

2020 International Conference Nonlinearity, Information and Robotics (NIR) Pub Date : 2020-12-03 DOI:10.1109/NIR50484.2020.9290222

E. Artemova, A. Kilin

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引用次数: 1

摘要

本文研究了对称轮式三连杆车辆在无滑移平面上的受控运动。[1] -[6]中也考虑了类似的系统。我们假设车辆由三个相同的平台(链接)组成。各平台通过接头相互连接，并将车轮对刚性地固定在每个平台的质心上。所谓车轮对，是指两个车轮在同一轴上独立旋转。

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Dynamics and control of a three-link wheeled vehicle

In this paper we consider the controlled motion of a symmetric wheeled three-link vehicle on a plane without slipping. Similar systems have been considered in [1] – [6] . We assume that the vehicle consists of three identical platforms (links). The platforms are connected to each other by joints, and a wheel pair is rigidly fastened to the center of mass of each platform. By a wheel pair we mean two wheels rotating independently on the same axis.

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来源期刊

2020 International Conference Nonlinearity, Information and Robotics (NIR)

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