以下是摘自Modern Robotics Mechanics, Planning and Control书籍中的介绍
Many mobile bases, however, such as cars and differentialdrive robots, use more typical wheels, which do not slip sideways. These no-slip constraints are fundamentally different from the loop-closure constraints found in closed chains; the latter are holonomic, meaning that they are configuration constraints, while the former are nonholonomic, meaning that the velocity constraints cannot be integrated to become equivalent configuration constraints
翻译为:
然而,许多移动基座,例如汽车和差速驱动机器人,使用更典型的轮子,这些轮子不会侧向滑动。 这些无滑动约束与闭环链中的闭环约束有根本的不同。 后者是完整的,意味着它们是配置约束,而前者是非完整的,意味着速度约束不能积分成为等效的配置约束
机器人完整约束和非完整约束
最新推荐文章于 2024-08-28 20:25:05 发布