摘要
讨论了RoboCup中型组足球比赛中,全向机器人的结构设计及其控制方法,以所设计的三轮驱动的全向机器人为例,对系统进行了运动学以及动力学的分析与建模,最后对系统运动性能进行了分析探讨。
This paper focuses on the research of mechanical structure design and controlling of a robot for the competition in RoboCup middle size league. Using the example of the robot with three omni- directional wheels,which has been designed by ourselves,and then model and analyze the kinematics and dynamics of the system, at last, we discuss omni - directional the movement capability of this system.
出处
《机械与电子》
2006年第5期38-41,共4页
Machinery & Electronics
关键词
RoboCup中型组
足球机器人
全向运动
结构设计
RoboCup middle size league
soccer robot
omni - directional movement
structure design
