论文标题
全向机器人建模和仿真
Omnidirectional robot modeling and simulation
论文作者
论文摘要
机器人仿真系统是任何机器人应用程序的基本需求。有了它，开发人员的机器人团队可以测试其算法并进行初始校准，而不会损坏真正的机器人，从而确保安全。但是，构建这些模拟环境通常是耗时的工作，并且在考虑机器人车队时，模拟显示计算昂贵。有了它，开发人员建造机器人的团队可以测试其算法并进行初始校准，而不会损坏真正的机器人，从而确保安全。 5DPO机器人足球队的全向机器人有助于测试这种方法。建模问题分为两个步骤：建模电动机的非线性特征并建模机器人的一般行为。考虑到速度机器人的响应，达到了机器人的适当安装。
A robot simulation system is a basic need for any robotics application. With it, developers' teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. However, building these simulation environments is usually time-consuming work, and when considering robot fleets, the simulation reveals to be computing expensive. With it, developers building teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. An omnidirectional robot from the 5DPO robotics soccer team served to test this approach. The modeling issue was divided into two steps: modeling the motor's non-linear features and modeling the general behavior of the robot. A proper fitting of the robot was reached, considering the velocity robot's response.
