关键词 ] 轮式机器人 液压控制 水平姿势控制 [gap=185]Key words] Wheel driven robot； Hydraulic control； Horizontal posture control
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Firstly, a kind of kinematics model of two-wheel driven mobile robot is analyzed. Aimed at its trajectory tracking control problem, the sliding-mode controller is designed.
首先，分析一类两轮移动机器人的运动学模型和动力学模型，针对其轨迹跟踪控制问题，设计滑模控制器。
Furthermore, the implementation platform of a two-wheel driven mobile robot is developed to perform the real-time trajectory tracking algorithms, and the experiment res…
然后在研制的非完整两轮驱动移动机器人的实验平台上对该算法进行了实时轨迹跟踪实验，结果表明了该非线性跟踪控制算法的有效性。
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