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。

This paper presents the formulation and practical implementation of positioning methodologies that compensate for the nonholonomic constraints of a mobile microrobot that is driven by two vibrating direct current (DC) micromotors. The open-loop and closed-loop approaches described here add the capability for net sidewise displacements of the microrobotic platform. A displacement is achieved by the execution of a number of repeating steps that depend on the desired displacement, the speed of the micromotors, and the elapsed time. Simulation and experimental results verified the performance of the proposed methodologies.