Kinematics Analysis of a Two-wheeled Robot on a Sphere
Abstract To study the motion control problem of the two-wheeled robot on the spherical container，the motion characteristics of the robot on the spherical surface are analyzed. For motion description，the motion of the robot in the three-dimensional environment is decomposed and projected into the two...
| Main Authors: | , , |
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2020-03-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.03.022 |
| _version_ | 1826881639520665600 |
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| author | Lu Chenxi Zhang Wenzhi Chen Fumin |
| author_facet | Lu Chenxi Zhang Wenzhi Chen Fumin |
| author_sort | Lu Chenxi |
| collection | DOAJ |
| description | Abstract To study the motion control problem of the two-wheeled robot on the spherical container，the motion characteristics of the robot on the spherical surface are analyzed. For motion description，the motion of the robot in the three-dimensional environment is decomposed and projected into the two-dimensional coordinate plane by making a tangent plane and a normal plane at the center point of the robot. The trajectory and velocity of the robot on the spherical surface are obtained，and then the mathematical model of the robot's motion on the spherical surface is established. Finally，the kinematics model is discretized and simulated in Matlab.The feasibility of the model is verified by the simulation results, and the graphics of the simulation process visually shows the motion state of the robot, which provides theoretical help for the motion planning of the robot. |
| first_indexed | 2024-03-13T09:16:43Z |
| format | Article |
| id | doaj.art-f862a0ec7bab44de989eb3fda6355cd4 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2025-02-17T02:48:46Z |
| publishDate | 2020-03-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-f862a0ec7bab44de989eb3fda6355cd42025-01-10T14:44:10ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-03-014413714131441739Kinematics Analysis of a Two-wheeled Robot on a SphereLu ChenxiZhang WenzhiChen FuminAbstract To study the motion control problem of the two-wheeled robot on the spherical container，the motion characteristics of the robot on the spherical surface are analyzed. For motion description，the motion of the robot in the three-dimensional environment is decomposed and projected into the two-dimensional coordinate plane by making a tangent plane and a normal plane at the center point of the robot. The trajectory and velocity of the robot on the spherical surface are obtained，and then the mathematical model of the robot's motion on the spherical surface is established. Finally，the kinematics model is discretized and simulated in Matlab.The feasibility of the model is verified by the simulation results, and the graphics of the simulation process visually shows the motion state of the robot, which provides theoretical help for the motion planning of the robot.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.03.022Sphere |
| spellingShingle | Lu Chenxi Zhang Wenzhi Chen Fumin Kinematics Analysis of a Two-wheeled Robot on a Sphere Jixie chuandong Sphere |
| title | Kinematics Analysis of a Two-wheeled Robot on a Sphere |
| title_full | Kinematics Analysis of a Two-wheeled Robot on a Sphere |
| title_fullStr | Kinematics Analysis of a Two-wheeled Robot on a Sphere |
| title_full_unstemmed | Kinematics Analysis of a Two-wheeled Robot on a Sphere |
| title_short | Kinematics Analysis of a Two-wheeled Robot on a Sphere |
| title_sort | kinematics analysis of a two wheeled robot on a sphere |
| topic | Sphere |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.03.022 |
| work_keys_str_mv | AT luchenxi kinematicsanalysisofatwowheeledrobotonasphere AT zhangwenzhi kinematicsanalysisofatwowheeledrobotonasphere AT chenfumin kinematicsanalysisofatwowheeledrobotonasphere |