2015年 第1卷 第1期
《工程（英文）》 >> 2015年 第1卷 第1期 doi: 10.15302/J-ENG-2015016
振动驱动的微型机器人非完整约束补偿的定位方法
Department of Mechanical Engineering, National Technical University of Athens, 15780 Zografou, Athens, Greece
a Present address: Department of Computer Science and Engineering, University of Ioannina, 45110 Ioannina, Greece
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摘要
本文提出了一种微型移动机器人非完整约束补偿的定位方法，推导了相关公式并进行了实际操作。该移动机器人由两台振动型直流微型电机驱动。本文所描述的开环法和闭环法增加了微型机器人平台侧向净位移的能力，这是通过执行若干重复步骤来实现的，这些步骤与期望位置、速度和时间相关。仿真和试验结果验证了所述方法的有效性。
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