词条 | Unicycle cart |
释义 |
The term unicycle is often used in robotics and control theory to mean a generalised cart or car moving in a two-dimensional world; these are also often called "unicycle-like" or "unicycle-type" vehicles. This usage is distinct from the literal sense of "one wheeled robot bicycle". These theoretical vehicles are typically shown as having two parallel driven wheels, one mounted on each side of their centre, and (presumably) some sort of offset castor to maintain balance; although in general they could be any vehicle capable of simultaneous arbitrary rotation and translation. An alternative realization uses a single driven wheel with steering, and a pair of idler wheels to give balance and allow a steering torque to be applied. A physically realisable unicycle, in this sense, is a nonholonomic system. This is a system in which a return to the original internal (wheel) configuration does not guarantee return to the original system (unicycle) position. In other words, the system outcome is path-dependent. See also
2 : Robot control|Control theory |
随便看 |
|
开放百科全书收录14589846条英语、德语、日语等多语种百科知识,基本涵盖了大多数领域的百科知识,是一部内容自由、开放的电子版国际百科全书。