| 1. | The ideal constraint force of 1 - order nonholonomic constraint
一阶非完整约束的理想约束力 |
| 2. | Nonholonomic constraint is the constraint that contains time derivatives of the generalized coordinates of the system and is not integrable
非完整约束是指含有系统广义坐标导数且不可积的约束。 |
| 3. | It is well known that the control problems of wheeled mobile robots are complicated due to nonholonomic constraints in the course of motion
轮式移动机器人的控制问题由于存在非完整运动约束而极富挑战性。 |
| 4. | Nonholonomic constraint means that the constraint equation contains the time derivative of the systematic generalized coordinates , which are not integrable
非完整约束是指约束中含有广义坐标的导数,且这些导数不全部可积。 |
| 5. | Firstly , a whole control model is given after analyzing the wheeled structure with nonholonomic constraints and the model of dc servo - motor building . secondly , we develop a motion control system using at90s8515 microcontroller
首先，通过对非完整轮式移动结构和直流伺服电机模型的分析，建立了移动机器人的控制系统模型。 |
| 6. | The former has huge challenge for nonholonomic constraints in the course of motion , and the difficulty of the latter is the uncertainties . these problems are all deeply and systemically studied
前者因为移动机器人系统存在非完整约束，而使其运动控制具有极大的挑战性；后者则由于存在各种不确定性给所研究的问题带来许多困难。 |
| 7. | The motion model of wheeled mobile robots with nonholonomic constraints is built , and the model has been linearilized via state feedback exact linearization . the motion control of wmr can be studied using the model . 2
基于一类具有非完整约束的轮式移动机器人，建立了该种移动机器人的运动模型，并通过状态反馈线性化方法对其进行了线性化处理，此模型可用于移动机器人的跟踪控制。 |
| 8. | Then , the paper designs the covering - path planner of the window - cleaning robot0 thirdly , the kinematics model of the dexterous window - cleaning robot , or structurealterable two - vehicle , is established for controlling , and the nonholonomic constraint equations are illustrated
设计了灵巧擦窗机器人遍历运动规划控制器。第三，建立了面向控制的灵巧擦窗机器人?可构形双车体运动学模型，推导了该机器人的非完整约束方程。 |
| 9. | The effects resulted from the omnidirectional mobile platform on the singular configuration , manipulability and directional manipulability of the manipulator were analyzed profoundly , and the results were compared with that of the wheeled mobile manipulator which was subjected to nonholonomic constraint
在广义可操作度概念的基础上，分析了全方位移动平台对机械手奇异位姿、可操作度及方向可操作度的影响，并与受非完整约束的差分移动平台对机械手的相应影响进行了比较。 |
