Research on Non-Holonomic Constraint Kinematics Equations and Stabilization for the Window-Cleaning Robot
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摘要: 详细推导了带约束连杆的双车体可重构灵巧擦窗机器人运动学方程,并在此基础上研 究了整车体运动控制的反馈镇定问题.
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关键词:
- 擦窗机器人 /
- 非完整约束运动学方程 /
- 镇定
Abstract: This paper researches into the non-holonomic constraint kinematics equation of the dexterous window-cleaning robot which has a two-vehicle structure with a linking stick. Based on this, the stabilization of feedback is proved for this special structure vehicle. -
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