Mobile Robot Locomotion PDF

Summary

This document discusses mobile robot locomotion. It covers the different types of wheels and driving methods. It also explains the concepts of kinematic and dynamic modeling, and the mathematics of motion.

Full Transcript

‫ﻋﻠم اﻟﺣرﻛﮫ‬ ‫دراﺳﮫ اﻟﺑﯾﺋﮫ ﻧﻔﺳﮭﺎ‬ ‫اﯾﮫ اﻟرﻣوز اﻟﻠﻰ ھﻧﺳﺗﺧدﻣﮭﺎ ﻓﻰ ﺑﻧﺎء روﺑوت‬ ‫ﺑﻧﺷوﻓﮭﺎ ﻣن اﻟوﺟﮫ اﻟﻣﻘﺎﺑل‬ ‫ﻟو اﻧﺎ ﺑﺻﯾت ﻋﻠﯾﮭﺎ ﻣن ﻓوق‬ ‫ﻧص ﻗطر اﻟﻌﺟﻠﮫ‬ ‫اﻟﺳرﻋﮫ اﻟﺧطﯾﮫ‬ ‫اﻟﺳرﻋﮫ اﻟزاوﯾﮫ‬ ‫اﻟﺳرﻋﮫ اﻟﺗوﺟﯾﮭﯾﮫ‬ ‫ﻣﺳﺗوى اﻟدوران ﺛﺎ...

‫ﻋﻠم اﻟﺣرﻛﮫ‬ ‫دراﺳﮫ اﻟﺑﯾﺋﮫ ﻧﻔﺳﮭﺎ‬ ‫اﯾﮫ اﻟرﻣوز اﻟﻠﻰ ھﻧﺳﺗﺧدﻣﮭﺎ ﻓﻰ ﺑﻧﺎء روﺑوت‬ ‫ﺑﻧﺷوﻓﮭﺎ ﻣن اﻟوﺟﮫ اﻟﻣﻘﺎﺑل‬ ‫ﻟو اﻧﺎ ﺑﺻﯾت ﻋﻠﯾﮭﺎ ﻣن ﻓوق‬ ‫ﻧص ﻗطر اﻟﻌﺟﻠﮫ‬ ‫اﻟﺳرﻋﮫ اﻟﺧطﯾﮫ‬ ‫اﻟﺳرﻋﮫ اﻟزاوﯾﮫ‬ ‫اﻟﺳرﻋﮫ اﻟﺗوﺟﯾﮭﯾﮫ‬ ‫ﻣﺳﺗوى اﻟدوران ﺛﺎﺑت‬ ‫ﺗﻘدر ﺗﻐﯾر اﻟﻣﺳﺗوى ﺑﺗﺎﻋﮭﺎ‬ ‫اﻟﻌﺟﻠﮫ ﺑﺗﺗﺣرك ﺟﺎﻧﺑﻰ‬ ‫ﺟﺎﻧﯾﮫ ﻟﮭﺎ اﻟﻘدره ﻋﻠﻰ اﻟﻣﯾل ﻗﻠﯾﻼ‬ ‫ﻣرﻛز اﻟدوران‬ ‫ﻧﻘطﮫ ﺗﻼﻗﻰ ﻣﺣﺎور اﻟﻌﺟل‬ ‫درﺟﮫ ﺣرﯾﮫ اﻟﺣرﻛﮫ‬ ‫ﯾﻌﺗﻣد ﻋﻠﻰ‬ ‫اﻟﻘدره ﻋﻠﻰ اﻟﻘﯾﺎده‬ ‫ﻋﺟﻠﺗﯾن ﻋﻠﻰ اﻻﻗل ﻓﻰ ﻧﻔس اﻻﺗﺞ‬ ‫ﻣﻧﺎوره‬ ‫ﻋﺟﻠﺗﯾن ﻣﺗﺳﺎوﯾﺗﯾن‬

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