{"title":"三自由度机器人平台的分析与控制","authors":"J.F. Jansen, R.L. Kress","doi":"10.1016/0378-3804(89)90039-9","DOIUrl":null,"url":null,"abstract":"<div><p>This paper describes the analysis and design of a robot platform with two drive wheels, each with an independent steering mechanism resulting in three independent degrees of motion. The kinematic and inverse kinematic analyses are derived in detail. An adaptive controller is designed to compensate for large inertial variations and to satisfy the velocity (nonholonomic) constraints.</p></div>","PeriodicalId":100801,"journal":{"name":"Journal of Mechanical Working Technology","volume":"20 ","pages":"Pages 295-304"},"PeriodicalIF":0.0000,"publicationDate":"1989-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1016/0378-3804(89)90039-9","citationCount":"4","resultStr":"{\"title\":\"Analysis and control of a three-degree-of-freedom robot platform\",\"authors\":\"J.F. Jansen, R.L. Kress\",\"doi\":\"10.1016/0378-3804(89)90039-9\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>This paper describes the analysis and design of a robot platform with two drive wheels, each with an independent steering mechanism resulting in three independent degrees of motion. The kinematic and inverse kinematic analyses are derived in detail. An adaptive controller is designed to compensate for large inertial variations and to satisfy the velocity (nonholonomic) constraints.</p></div>\",\"PeriodicalId\":100801,\"journal\":{\"name\":\"Journal of Mechanical Working Technology\",\"volume\":\"20 \",\"pages\":\"Pages 295-304\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1989-09-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://sci-hub-pdf.com/10.1016/0378-3804(89)90039-9\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Mechanical Working Technology\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/0378380489900399\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Mechanical Working Technology","FirstCategoryId":"1085","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/0378380489900399","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Analysis and control of a three-degree-of-freedom robot platform
This paper describes the analysis and design of a robot platform with two drive wheels, each with an independent steering mechanism resulting in three independent degrees of motion. The kinematic and inverse kinematic analyses are derived in detail. An adaptive controller is designed to compensate for large inertial variations and to satisfy the velocity (nonholonomic) constraints.
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