规划由内部质量运动控制的轮式机器人的运动

2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB) Pub Date : 2020-06-01 DOI:10.1109/STAB49150.2020.9140463

Petr Makhmudov, V. Samsonov, M. Dosaev, L. Klimina, Y. Vershinin

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引用次数: 0

摘要

考虑小车沿水平绝对粗糙平面的平运动。导轨安装在小车上，与连接车轮质心的直线平行。滑块沿着该指南移动。滑块运动控制是通过设置其相对加速度来实现的。提出了一种使小车产生非零位移的循环相对滑块运动算法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Planning a motion of a wheeled robot controlled by a motion of internal mass

The flat motion of a trolley rolling along a horizontal absolutely rough plane is considered. A guide is mounted on the trolley parallel to the line connecting the centers of mass of wheels. A slider moves along this guide. Slider motion control is carried out by setting its relative acceleration. An algorithm is proposed for the cyclic relative slider motion, leading to nonzero displacement of the trolley.

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来源期刊

2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)

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