| Autor: |
LÜ Tian-sheng, SONG Li bo, LU Shun-shou, ZHANG Pei-yan |
| Zdroj: |
Journal of Shanghai Jiao Tong University; Nov2003 Supplement, Vol. 37, p54-57, 4p |
| Abstrakt: |
On the basis of Maggi equation, this paper setup the polar frame and the robot coordinate system. Using the turning angular velocity, the rotating velocity of legs and the swinging velocity of wheels as the quasi-velocity, the motion differential equations were deduced. The paper also gave out a general method to define the Lagrange multipliers with the Routh equation. It analyzed the effects of some nonholonomic constraints introduced by the wheels on the motion characteristics of Ice-skater Robot with the Newmark method. The examples approve its validity and practicability. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Supplemental Index |
| Externí odkaz: |
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