双轮式机器人在球面上的运动学分析  

Kinematics Analysis of a Two-wheeled Robot on a Sphere

作　　者：路晨曦 张文志[1] 陈福民[1] Lu Chenxi;Zhang Wenzhi;Chen Fumin(School of Mechanical Engineering,Inner Mongolia University of Technology,Huhhot 010051,China)

机构地区：[1]内蒙古工业大学机械工程学院

出　　处：《机械传动》2020年第3期137-141,共5页Journal of Mechanical Transmission

基　　金：国家质量监督检验检疫总局科技计划项目（2017QK066）

摘　　要：为研究球形容器上双轮式机器人的运动控制问题,分析了机器人在球面上的运动特点。在机器人中心点处做切平面和法平面,将三维环境中机器人的运动分解并投影在二维坐标平面内进行运动描述,得到了球面上机器人的运动轨迹及速度,进而建立了机器人在球面上运动的数学模型。对运动学模型进行离散化,并在Matlab中进行仿真。仿真结果验证了模型的可行性,仿真过程的图形直观形象地显示了机器人的运动状态,这为机器人的运动规划提供了理论帮助。To study the motion control problem of the two-wheeled robot on the spherical container,the motion characteristics of the robot on the spherical surface are analyzed.For motion description,the motion of the robot in the three-dimensional environment is decomposed and projected into the two-dimensional coordi⁃nate plane by making a tangent plane and a normal plane at the center point of the robot.The trajectory and ve⁃locity of the robot on the spherical surface are obtained,and then the mathematical model of the robot's motion on the spherical surface is established.Finally,the kinematics model is discretized and simulated in Matlab.The feasibility of the model is verified by the simulation results,and the graphics of the simulation process visually shows the motion state of the robot,which provides theoretical help for the motion planning of the robot.

关 键 词：球面 双轮式机器人 运动学模型 MATLAB 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]