Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS》 1998-03
Add to Favorite Get Latest Update

Kinematic Inverse Problem and Stability of Wheeled Mobile Robots

Lu Zhen Yan Biao(Beijing University of Aeronautics and Astronautics,Dept. of Mechanical and Electrical Engineering)  
Mobile robot can be regarded as the combination of a manipulator and a walking machine.It has more manoeuvrable and larger working space.Thus,it is suitable for long range operation both in the space and the ground.The most common used mobile robots are wheeled mobile robots(WMR).The wheeles lead to the non holomotic constraints.In this paper,the non holomotic constraints and kinematics geometry are analysed to formulate two solutions of the inverse kinematic problems of WMR.Secondly,a method on controlling the self motion of WMR is proposed to resolve the stability of the moving platform,which is verify by simulation.
【Fund】: 航空科学研究基金
【CateGory Index】: TP242.3
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
【References】
Chinese Journal Full-text Database 1 Hits
1 NAN Jing-fu, LIU Yan-bin, NIU Guang-lin (Heilongjiang Science And Technology College,Harbin 150027,China);Motion and orientation analysis of wheeled model move robot[J];机械设计与制造;2007-07
【Co-references】
Chinese Journal Full-text Database 3 Hits
1 CAI Zi-xing\ PENG Zhi-hong (College of Information Science and Engineering, Central South University\ Changsha\ 410083);THE APPLICATION OF A NOVEL PATH ENCODING MECHANISM IN PATH PLANNING FOR A MOBILE ROBOT[J];机器人;2001-03
2 Lu Zhen Yan Biao(Beijing University of Aeronautics and Astronautics,Dept. of Mechanical and Electrical Engineering);Kinematic Inverse Problem and Stability of Wheeled Mobile Robots[J];北京航空航天大学学报;1998-03
3 LI Wei(Department of Computer Science and Technology,Tsinghua University. Beijing. 100084,PRC );Behavior Based Control of A Mobile Robot in Unknown Environments Using Fuzzy Logic[J];控制理论与应用;1996-02
【Secondary References】
Chinese Journal Full-text Database 8 Hits
1 Xu Mingzhao;Yu Haitao;Yang Chun;Zhai Zhangming;Wang Xugang;Beijing Aerospace System Engineering Institute;;Autonomous Positioning Robot System Based on Gyroscope and Encoder[J];兵工自动化;2016-10
2 LI Guang-ling;ZHOU hong-lei;ZHANG Zhou-xin;Jiangsu Engineering R ﹠D Center for Information Fusion Software;Jiangyin Polytechnic College;;Design of omni-directional walking mechanism and correcting position of quartet-wheel for mobile robots[J];食品与机械;2014-05
3 SUN Ling;GONG Yong-jun;WANG Zu-wen;ZHANG Zeng-meng;Institute of Shipping Electromechanics Equipment,Dalian Maritime University;;Steering Kinematics Analysis on Ship Rust Removal Robot[J];机械设计与制造;2014-07
4 SI Yue-yuan1,2,ZHAO Xin-hua1,SHI Cai-hong2,ZHANG Xi-zheng2,CHEN Wei1,2(1.School of Mechanical Engineering,Tianjin University of Technology,Tianjin 300384,China;2.Institute of Medical Equipment,Academy of Military Medical Sciences,Tianjin 300161,China);Walking Mechanism Design and Kinematic Analysis of Wheel-Tracked Composite Robot[J];机械设计与制造;2013-07
5 ZHAO Yu-xia,DI Jie-jian,GAO De-wen(Department of Mechanical and Electrical Engineering,North ChinaUniversity of Technology,Beijing 100144,China);3D Solid Kinematics Simulation of Micro In-pipe Robot Based on ADAMS[J];实验室研究与探索;2011-01
6 ZHANG Xiao-hui FANG Jian-an YAN Wei-feng WANG Yun-tao;Design For Welding Robot's Control System Based on TMS320F2812[J];微计算机信息;2010-29
7 Zhao Yuxia Gao Dewen He Guangping(Col.of Mechanical and Electronical Engineering,North China Univ.of Tech.,100041,Beijing,China);Simulation Analysis and Kinematics Modeling of Wheeled Mobile Robot in Round Pipe[J];北方工业大学学报;2010-03
8 LI Lu-yu1,LIU Jun-jie2,FANG Ming3(1 Information College of Beijing University of Science and Technology,Beijing 100081,China;2 Dynamic and Mechanical Engineering College of Wuhan University,Wuhan 430072,China;3 Jiujiang Power Plant,Jiangxin Jiujiang 332000,China);Design of Robot Control System Based on TMS320F2812[J];湖北工业大学学报;2009-02
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved