【摘要】 全方位移动机器人由于具有平面上全部三个自由度、较高灵活性和机动性等优点,近年来得到了广泛的研究。四轮驱动的全方位移动机器人在躲避障碍物的同时能否精确到达指定地点取决于各个轮子的转向和驱动方式。在进行了全方位移动机器人的几种典型转向方式动力学建模的基础上,结合实验数据分析比较了几种转向方式的优劣性,为今后全方位移动机器人的动力学研究提供一些有价值的参考。更多还原

【Abstract】 The omni-directional wheeled mobile robot(OWMR) has been extensively researched in recent years because of having all 3 DOF on levelsh,igh flexibility and maneuverability etc.Whether the four-wheeled-driving OWMR could reach the appointed place depend on steering and driving modes of each wheel while avoiding the barriers.The quality of several typical steering modes was analyzed on base of building kinematics mode while combining the data of experiments,and it will offer some valuable reference on OWMR kinematics in the future.更多还原