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题名: A Kinematic Modeling Method for a Wheeled Mobile Robot
作者: Chang Y(常勇) ; Ma SG(马书根) ; Wang HG(王洪光) ; Tan DL(谈大龙)
作者部门: 机器人学研究室
会议名称: IEEE International Conference on Mechatronics and Automation
会议日期: August 9-12, 2009
会议地点: Changchum, China
会议主办者: IEEE, IEEE Robot & Automat Soc, Changsha Univ Scie & Technol, Kagawa Univ, Natl Nat Sci Fdn China, Chinese Assoc Automat, Robot Soc Japan, Japan Soc Mech Engn, Japan Soc Precis Engn, Soc Instrument & Control Engineers, Harbin Engn Univ, Univ Elect Commun, Univ Elect Sci & Technol China, Beijing Univ Technol, Jilin Univ, Kagoshima Univ, Harbin Inst Technol, Assoc Young Sci &Technol
会议录: 2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2009
页码: 1100-1105
收录类别: CPCI(ISTP) ; EI
ISBN号: 978-1-4244-2692-8
关键词: Wheeled mobile robot ; Kinematic modeling ; Kinematics
摘要: This paper presents a modeling method called "Wheel-Center Modeling" for kinematics of a wheeled mobile robot that moves on uneven terrain. The technique is verified by analyzing the special locomotion characteristics of the multi-rigid body and wheels of a wheeled mobile robot. A six-wheeled mobile robot with the called "Rocker-bogie" suspension has been modeled by using this method. The proposed method was verified by simulation where the robot moves on a flat plane.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8484
Appears in Collections:机器人学研究室_会议论文

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