【摘要】 详细推导了带约束连杆的双车体可重构灵巧擦窗机器人运动学方程 ,并在此基础上研究了整车体运动控制的反馈镇定问题更多还原

【Abstract】 This paper researches into the non-holonomic constraint kinematics equation of the dexterous window-cleaning robot which has a two-vehicle structure with a linking stick. Based on this, the stabilization of feedback is proved for this special structure vehicle.更多还原