【摘要】 爬壁机器人技术的不断发展，使研制可以吸附在大型球面工作的轮式移动机器人成为可能．本文采用坐标变换方法，针对工作在球面的万向轮式移动机器人建立运动学模型．其建模方法对于其它类型的在球面工作的轮式移动机器人也同样适用．更多还原

【Abstract】 Thanks to the fast development of wall climbing robotics, development wheeled mobile robots which can run on large spherical surfaces is reasonable now. This paper deals with kinematic modeling of an omnidirectional wheeled mobile robot running on spherical surfaces by coordinate transformation method. The method in this paper is general, which is suitable for almost all kinds of wheeled mobile robots running on spherical surfaces.更多还原