建立三轮移动机器人动力学模型，解决运动轨迹规划中的正逆动力学问题。
Direct And Inverse Dynamics Problems For A Three-wheel Mobile Robot With Two Drive Wheels
- 构建双驱三轮机器人的多输入多输出动态系统模型。
- 求解正逆动力学问题，实现轨迹精准控制与稳定性分析。
- 适用于工业运输、巡检及军事作业等高精度移动场景。
移动机器人广泛应用于国民经济多个领域，如物资运输、设备巡检、结构检测与维修、区域测绘以及警务和军事任务。其运动速度与精度直接影响作业效率与人员安全。因此，研究并规划移动机器人的运动轨迹至关重要。通过优化、自适应与鲁棒性方法，可将移动机器人视为具有多个输入和输出的动态系统。该系统的数学描述可用于求解相应的直接与逆向动力学问题，从而分析和设计期望的运动轨迹。建立移动机器人的数学模型是关键任务，其成果可支持开发确保沿预定轨迹精确运动的控制系统。
原文摘要 · Abstract (English)
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.
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