具有两个驱动轮的三轮移动机器人的正动力学与逆动力学问题
Direct And Inverse Dynamics Problems For A Three-wheel Mobile Robot With Two Drive Wheels
AI总结：
本文研究具有两个驱动轮的三轮移动机器人的正动力学与逆动力学问题，通过建立其多输入多输出动态系统数学模型，为分析和综合预定期望轨迹上的机器人控制系统提供基础。
摘要：
移动机器人被广泛用于国民经济多个部门中执行各种技术作业。这些作业涉及运输货物和设备、确定技术对象或结构的状态、对其进行建造或维修、研究特定区域并编制相关地图等。近年来，移动机器人可执行的作业清单已扩展到警务和军事行动。显然，附近工作人员的安全以及完成相关作业所需的时间取决于这类机器人的运动速度和运动精度。因此，研究并生成移动机器人的运动轨迹成为一项重要任务。优化方法、自适应方法、鲁棒性方法以及运动稳定性理论使我们能够将移动机器人视为一个具有多个输入和多个输出的动态系统。这种动态系统的数学描述可用于通过求解相应的正动力学和逆动力学问题来分析和综合期望的运动轨迹。因此，建立移动机器人的数学模型是一项具有现实意义的任务，其解决方案使我们能够创建和研究机器人控制系统，从而确保机器人沿预定的期望轨迹运动。
英文摘要：
Mobile robots are widely used to perform various technological operations in several sectors of the national economy. These operations are related to transporting goods and equipment, performing work to determine the condition of a technical object or structure, their construction or repair, performing work to study a specific territory and compile relevant maps, etc. Recently, the list of operations that mobile robots can perform has expanded with police and military operations. Obviously, the safety of personnel working nearby and the time required to perform the relevant operations depend on such robots' speed and accuracy of movement. Therefore, an important task arises to study and form the trajectories of movement of mobile robots. Optimization, adaptation, robustness methods, and the theory of movement stability allow us to consider a mobile robot as a dynamic system with several inputs and outputs. The mathematical description of such a dynamic system can be used to analyze and synthesize the desired trajectories of movement by solving the corresponding direct and inverse dynamics problems. Therefore, creating a mathematical model of a mobile robot is a relevant task, the solution of which allows us to create and research robot control systems that ensure movement along predetermined desired trajectories.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
