资料下载
×
基于车体加速度反馈的轮式移动机器人轨迹跟踪控制研究
消耗积分:5 |
格式:rar |
大小:367 |
2009-07-17
vinww特烦恼
分享资料个
本文分析了轮式移动机器人在运行过程中由于动力学不确定性引起的力矩扰动, 并提出了一种基于传感器的移动机器人控制方法. 在利用线加速度传感器实时测量机器人车体加速度信号的基础上, 实现了车体加速度反馈控制, 实验证明了该方法的有效性.
关键词: 移动机器人; 轨迹跟踪; 加速度反馈
Abstract: Th is paper analyzes the to rque disturbance of the w heeled mobile robo t due to dynam ic uncertaint ies during mo t ion and p resents a senso r based cont ro lmethod fo r the mobile robo t. Based onthe real2t ime measure2 ment of the veh icle’s body accelerat ion using accelerat ion meters, the veh icle’s body accelerat ion feedback cont ro l are imp lemented. The effect iveness of the method is demonst rated by experiments.
Keywords: mobile robo t, t rajecto ry t rack ing, accelerat ion feedback
关键词: 移动机器人; 轨迹跟踪; 加速度反馈
Abstract: Th is paper analyzes the to rque disturbance of the w heeled mobile robo t due to dynam ic uncertaint ies during mo t ion and p resents a senso r based cont ro lmethod fo r the mobile robo t. Based onthe real2t ime measure2 ment of the veh icle’s body accelerat ion using accelerat ion meters, the veh icle’s body accelerat ion feedback cont ro l are imp lemented. The effect iveness of the method is demonst rated by experiments.
Keywords: mobile robo t, t rajecto ry t rack ing, accelerat ion feedback
声明：本文内容及配图由入驻作者撰写或者入驻合作网站授权转载。文章观点仅代表作者本人，不代表电子发烧友网立场。文章及其配图仅供工程师学习之用，如有内容侵权或者其他违规问题，请联系本站处理。 举报投诉
评论(0)
发评论
- 相关下载
- 相关文章
