救援机器人目标跟踪控制的研究

基金项目:

山东省科技攻关计划资助项目(200806552)

详细信息

Research of Target Tracking Control of Rescue Robot

School of Mechatronic Engineering of Shandong University of Science and Technology,Qingdao 266510,China

摘要: 在分析了腿轮式救援机器人运动原理的基础上,建立了机器人的动力学模型,并根据该模型提出了一种基于线性反馈控制的目标跟踪控制方法,详细介绍了该控制方法的实现。实验结果证明了所提出控制方法的有效性。
- 救援机器人 /
- 腿轮式机器人 /
- 目标跟踪 /
- 线性反馈控制 /
- 控制器
Abstract: Based on the analysis of motion principle of leg-wheeled rescue robot,the paper built a dynamic model of the robot.Then according to the model,it proposed a control method of target tracking based on linear feedback control and introduced implementation of the control method in details.The experiment result proved the validity of the proposed control method.
- rescue robot /
- leg-wheeled robot /
- target tracking /
- linear feedback control /
- controller