| Autor: |
SONG Li-bo, LÜ Tian-sheng, ZHANG Pei-yan, LU Shun-shou |
| Zdroj: |
Journal of Shanghai Jiao Tong University; Nov2003 Supplement, Vol. 37, p50-53, 4p |
| Abstrakt: |
On the basis of the pure-rolling and the non-slippage assumptions, this paper established a robot coordinate system and inertia frame. And the motions in the normal direction and the tangent direction of the wheels were researched and the kinematic equations and the nonholonomic kinematic state space used in the acceleration control were obtained. At the same time, the switching functions satisfying the sliding mode reachable condition to realize the coordination of the wheels, the legs and between the wheels and the legs were gotten. The experiments verified the practicability of the coordinated control method based on the nonholonomic kinematic state space and the variable structure control system with sliding mode method together with the inverse kinematics. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
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