模块化四轮全向驱动小车设计与运动控制方法  

Kinematic Control and Modular Design of 4-wheel Omin-driectional Driving Robot

作　　者：郑圣子[1] 

机构地区：[1]天津科技大学机械工程学院,天津300222

出　　处：《天津科技大学学报》2013年第5期61-65,共5页Journal of Tianjin University of Science & Technology

摘　　要：设计了模块化四轮驱动机器人,基于采用AVR单片机的运动控制提出了模块化四轮全向驱动简化运动学模型.在对模型详细分析的基础上,提出通过改变曲率半径实现对小车运行轨迹进行控制的方法.实验表明,提出的运动控制方法简单可靠,满足设计要求.A 4-wheel omni-driectional driving robot was designed, and a 4-wheel omni-directional driving kinematic model was proposed based on AVR microcontroller control. Detailed analysis of the robot model shows that the robot can be con- trolled and the predesigned trajectory can be obtained through continuously altering the curvature radius. Experimental re- sults indicate that the kinematic control method is simple and reliable; the accuracy of trajectory satisfies the design require- ments.

关 键 词：模块化设计 曲率半径 运动学模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]