轮式完整全向机器人的分析与设计

2006 IEEE 3rd Latin American Robotics Symposium Pub Date : 2006-10-01 DOI:10.1109/LARS.2006.334341

F. Cuéllar

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引用次数: 8

摘要

本文研究了基于完整运动的轮式移动机器人运动学方程的理解和设计。这个机器人具有非凡的机动性，因为它可以同时进行平移和旋转。这项技术可能会取代现有的轮式移动机器人，因为它更高效、更灵巧。最后，在概念设计的基础上，给出了高机动全向平台的机械结构、电子器件和实验结果

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Analysis and Design of a Wheeled Holonomic Omnidirectional Robot

The present work deals with the understanding of the kinematic equations and design of a wheeled mobile robot based on holonomic motion. The robot offers exceptional mobility because it could perform translation and rotation at the same time. This technology may displace existing wheeled mobile robots because it is more efficient and dexterous. Finally, based on the conceptual design, the mechanical structure, electronics and experimental results of a high mobility omnidirectional platform are presented

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2006 IEEE 3rd Latin American Robotics Symposium

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