??????? Locomotion

1
???????Locomotion

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8
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• Locomotion
• ???? ???? ??? ? ????? ?? ????? ???? ?? ???? ????
  ?????.
• Manipulation
• ????? ????? ?? ???? ???? ??? ? ????? ???? ??
  ????? ?????.

9
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• ??? ???? ??????? ???? ( ??? ???? ???? ??? ?? ???
  ?..)

10
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• ???? ?? ??????? ?? ?? ?? ??????? ?? ???? ??????
  ????? ? ???? ???? ?????? ( contact point)
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11
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• ???? ????? ???? ??? ???? ?? ???? ????? ????? ????
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• Degree of freedom
• A simple definition of "degrees of freedom" is -
  the number of coordinates that it takes to
  uniquely specify the position of a system.

12
???? ?????

• The number of DOF that a manipulator possesses is
  the number of independent position variables that
  would have to be specified in order to locate all
  parts of the mechanism. In other words, it refers
  to the number of different ways in which a robot
  arm can move.
• In the case of typical industrial robots, because
  a manipulator is usually an open kinematic chain,
  and because each joint position is usually
  defined with a single variable, the number of
  joints equals the number of degrees of freedom.

13
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14

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15
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16
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• Gait ????? ??? ?? ????? ???? ???? ? ?????? ??????
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• N(2K-1)!
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17
Gait Control
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(No Transcript)
19
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20
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21
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22
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23
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• ??? ? ??????? Traction
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24
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28
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  ) ???? ??? ????? ?? ??? ??? 45 ? ?? 90 ???? ?????
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29
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30
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31
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33
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34
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35
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36
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37
(No Transcript)
38
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39
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  reckoning ???? ????? ???.
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40
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41
(No Transcript)
42
Special kinematic designs

• Most academic or industrial mobile robots have
  different kinematic features with respect to
  real-world trucks or passenger cars, because of
  reasons of kinematic simplicity, operation under
  laboratory conditions, and the requirement of
  measuring the position of the robot. The major
  simpli?cations are
• Two independently driven wheels. This allows
  accurate measurement and control of the wheels
  rotation. The speed difference between both
  wheels generates rotation of the vehicle.
  Moreover, vehicles equipped with two
  independently driven wheels can rotate on the
  spot.
• No suspensions. In normal cars, the suspension
  compensates discomforting in?uences of the cars
  dynamics at high speeds and high disturbances.
  This goal is achieved by deformation and/or
  relative displacement of some parts in the
  suspension. This means that the position and
  orientation of the wheels cannot be measured and
  controlled directly. For this reason, mobile
  robots dont have suspensions. Hence, their
  speeds are limited.
• Holonomic mobile robots (also called
  omnidirectional vehicles) have been developed in
  many academic and industrial research labs. These
  devices use special types of wheels or wheel-like
  artifacts as in or spheres driven by three or
  more rollers,