自主全向机轮移动机器人的设计与研制

2014 IEEE International Conference on Automation, Quality and Testing, Robotics Pub Date : 2014-05-22 DOI:10.1109/AQTR.2014.6857869

M. Tatar, C. Popovici, D. Mandru, I. Ardelean, Alin Plesa

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引用次数: 36

摘要

在本文中，作者提出了一个全方位的移动机器人，开发用于教育和研究目的。机器人的全向运动能力是由于其特殊的机械轮。本文介绍了Mecanum全向轮、全向轮和全向轮机器人的机械设计方面的概况，并介绍了全向轮机器人的运动学和动力学模型以及控制系统。

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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Design and development of an autonomous omni-directional mobile robot with Mecanum wheels

In this paper the authors are presenting an omni-directional mobile robot, developed for educational and research purposes. The omni-directional motion capabilities of the robot are due to its special Mecanum wheels. The paper provides general information about Mecanum omni-directional wheels, mechanical design aspects of the wheels and the robot and it also describes the kinematic and dynamic models of the robot and the control system.

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来源期刊

2014 IEEE International Conference on Automation, Quality and Testing, Robotics

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