A Kinematic Modeling Method for a Wheeled Mobile Robot
文献类型：会议论文
| 作者 | Chang Y(常勇) ; Ma SG(马书根); Wang HG(王洪光); Tan DL(谈大龙)
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| 出版日期 | 2009 |
| 会议名称 | IEEE International Conference on Mechatronics and Automation |
| 会议日期 | August 9-12, 2009 |
| 会议地点 | Changchum, China |
| 关键词 | Wheeled mobile robot Kinematic modeling Kinematics |
| 页码 | 1100-1105 |
| 中文摘要 | This paper presents a modeling method called "Wheel-Center Modeling" for kinematics of a wheeled mobile robot that moves on uneven terrain. The technique is verified by analyzing the special locomotion characteristics of the multi-rigid body and wheels of a wheeled mobile robot. A six-wheeled mobile robot with the called "Rocker-bogie" suspension has been modeled by using this method. The proposed method was verified by simulation where the robot moves on a flat plane. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE, IEEE Robot & Automat Soc, Changsha Univ Scie & Technol, Kagawa Univ, Natl Nat Sci Fdn China, Chinese Assoc Automat, Robot Soc Japan, Japan Soc Mech Engn, Japan Soc Precis Engn, Soc Instrument & Control Engineers, Harbin Engn Univ, Univ Elect Commun, Univ Elect Sci & Technol China, Beijing Univ Technol, Jilin Univ, Kagoshima Univ, Harbin Inst Technol, Assoc Young Sci &Technol |
| 会议录 | 2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-2692-8 |
| WOS记录号 | WOS:000280158100200 |
| 源URL | [http://ir.sia.cn/handle/173321/8484]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Chang Y,Ma SG,Wang HG,et al. A Kinematic Modeling Method for a Wheeled Mobile Robot[C]. 见:IEEE International Conference on Mechatronics and Automation. Changchum, China. August 9-12, 2009. |
入库方式： OAI收割
来源：沈阳自动化研究所
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