电弧传感轮式机器人的数学建模方法及仿真  

Mathematical Modeling Methods and Simulation Based on Wheeled Robot with the Arc Sensor

作　　者：李湘文[1] 洪波[1] 刘新 洪宇翔[1] 尹力[1] 

机构地区：[1]湘潭大学机械工程学院,湖南湘潭411105 [2]湖南工业大学机械工程学院,湖南株洲412008

出　　处：《上海交通大学学报》2010年第S1期103-106,共4页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金资助项目(50975243)

摘　　要：通过对电弧传感轮式机器人的执行机构进行分析,提出焊缝切线法和机构简化法2种不同的模型,并分别建立轮式机器人的运动学数学模型.利用Matlab/Simulink对模型进行电弧轨迹跟踪仿真,证明模型的正确和有效性,同时也为焊电弧传感轮式机器人这种非完整约束机构提供不同的建模理论依据.According to analyses actuating mechanism of wheeled robot with arc sensor,seam tangent method and simplified mechanism models were proposed,and the kinematics and mathematical models of wheeled robot were also established respectively.Then based on those models,with simulating the arc-trajectory-tracking by Matlab/Simulink,the correction and effectiveness of the models are proved,providing different modeling theories for non-holonomic constraints,such as the wheeled robot with arc sensor.

关 键 词：电弧传感 数学模型 建模仿真 焊缝切线法 机构简化法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]