| 差动驱动式移动机械手的运动规划 |
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| 引用本文： | 柳长安,周宏,李国栋.差动驱动式移动机械手的运动规划[J].宇航学报,2004,25(2):183-186. |
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| 作者姓名： | 柳长安 周宏 李国栋 |
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| 作者单位： | 华北电力大学计算机科学与技术学院机器人与智能接口研究所,北京,102206 |
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| 摘 要： | 提出了差动驱动式移动机械手的运动规划算法。首先推导出差动驱动式移动机械手的运动学模型，其次给出了基于广义雅可比矩阵的差动驱动式移动机械手分解运动速度控制算法，最后用计算机仿真验证了该算法的正确性。
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| 关 键 词： | 移动机械手 差动驱动 广义雅可比矩阵 运动规划 |
| 文章编号： | 1000-1328(2004)02-0183-04 |
Motion planning of differential drive mobile manipulator |
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| LIU Chang-an,ZHOU Hong,LI Guo-dong.Motion planning of differential drive mobile manipulator[J].Journal of Astronautics,2004,25(2):183-186. |
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| Authors: | LIU Chang-an ZHOU Hong LI Guo-dong |
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| Abstract: | This paper presents the motion planning algorithm of a differential drive mobile manipulator.First,The kinematic modeling of a differential drive mobile manipulator is introduced.Then,a resolved motion rate control algorithm based on Generalized Jacobian Matrix is presented.Finally,the effectiveness of the algorithm is verified by computer simulation. |
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| Keywords: | Mobile manipulator Differential drive Generalized Jacobian matrix Motion planning |
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