Kinematics and dynamics of a three-wheeled 2-DOF AGV
Kinematics and dynamics of a three-wheeled 2-DOF AGV
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三轮 2 自由度 AGV 的运动学和动力学
DOI：
10.1109/robot.1989.100202
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发表时间：
1989
期刊：
影响因子：
--
通讯作者：
J. Angeles
中科院分区：
文献类型：
--
作者：
S. Saha;J. Angeles
提出了一种二自由度自动导引车（AGV）运动学和动力学建模的系统方法。这种类型的方法可以用来分析，设计，仿真和控制任何类型的滚动机器人。正交补的概念被用来建立动力学运动方程。为了模拟目的，对车辆进行了分析。模拟结果的报告。它表明，使用的速度约束方程的矩阵的自然正交补，它是可能的，系统地推导出非完整机器人机械系统的欧拉-拉格朗日运动方程。此外，正交补的引入自然导致一个有效的计算算法。<<ETX>>
A systematic method for the kinematic and dynamic modeling of a two-degree-of-freedom (DOF) automatic guided vehicle (AGV) is presented. This type of methodology can be used to analyze, design, simulate, and control any kind of rolling robots. The concept of orthogonal complement is used to develop the dynamical equations of motion. The vehicle is analyzed for simulation purposes. Simulation results are reported. It is shown that, using the natural orthogonal complement of the matrix of velocity constraint equations, it is possible to derive systematically the Euler-Lagrange equations of motion of nonholonomic robotic mechanical systems. Moreover, the introduction of the orthogonal complement leads naturally to an efficient computational algorithm.<<ETX>>