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Crawler robot kinematics modeling by using a two-wheeled approach
Konrad Majkut,Mariusz Giergiel,Piotr Kohut 대한기계학회 2017 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.31 No.2
The aim of this paper is to analyze the kinematics of a small crawler robot. A mathematical model of kinematics based on a twowheeled approach is proposed. This model is experimentally verified using vision-based motion measurements of a crawler vehicle equipped with encoders and a remote control system. It is assumed that the vehicle moves along a few curves with different angular speeds of its wheels. Based on the model of motion and the values of these speeds, numerical simulations are investigated. The results obtained from numerical and experimental validation are presented and discussed. The comparison delivered some important conclusions.