KINEMATICAL CONTROL FOR A MOBILE ROBOT

被引：0

作者：

Szoke, Zoltan ^{[1
]}

Negrean, Iuliu ^{[1
]}

Schonstein, Claudiu ^{[1
]}

Kacso, Kalman ^{[1
]}

机构：

[1] Tech Univ Cluj Napoca, Dept Mech Syst Engn, Cluj Napoca, Romania

来源：

ACTA TECHNICA NAPOCENSIS SERIES-APPLIED MATHEMATICS MECHANICS AND ENGINEERING | 2013年 / 56卷 / 02期

关键词：

mobile robots; kinematics; robot control; constraints; motion trajectories;

D O I：

暂无

中图分类号：

O3 [力学];

学科分类号：

08 ; 0801 ;

摘要：

Unlike the serial robots, in the kinematics and dynamics of the mobile robots the mathematical models are different, in the first time due to nonholonomic links. As a result, the kinematics and dynamics equations will be computed by means of the motion restrictions. In this paper will be applied matrix transformations and exponentials for define the forward kinematics model and control functions corresponding to the mobile robots.

引用

页码：425 / 430

页数：6