【摘要】 移动越障机器人可以攀越突变障碍,实现野外环境下的灵活机动。和普通移动机器人在平坦表面上的运动不同,其在越障过程中具有独特的运动情况。提出了一种复合结构移动越障机器人,建立其越障状态下的逆运动学模型,对运动特性进行了解析,基于路径跟踪运动的仿真研究验证了该模型的有效性和正确性。更多还原

【Abstract】 Over-obstacle mobile robot has the capability of climbing vertical obstacle.It can move freely in the field.Different from the motion of the ordinary mobile robot on flat plane,its locomo-tion condition is unique during climbing obstacle.A complex structure over-obstacle mobile robot was proposed and the inverse-kinematics model of this robot was investigated,and the motion characteristics of this system were analyzed.Finally the simulation of path-tracking motion was given to prove efficiency and correctness of this inverse kinematic model.更多还原