Kinematics And Dynamics Analyse For Robot Soccer System

With the rapid development of science and technology. intelligent robot has become a major aspect of computer application and AI. Robot soccer, is a new high-tech competition which was developed widely as an internationally activity in the recently years. It already attracts extensive notice and interests on it since it includes high-tech, amusement and competition. Robot soccer, referring to the fields of robotics intelligent control data fusion computer technology wireless communication image processing artificial life mechanics and so on, is a good test bed for multi-agent system and multi-robot theory. It also offers a vivid research model for the researching works of the multi-agent system theory;therefore, it makes the theory and practice compacted closely.Basically, the whole system consists of four subsystems: robots vision, decision-making and communication subsystem. According to MIROSOT (Micro-Robot World Cup Soccer Tournament), when the match is running, the decision-making subsystem controls or manipulates the robots by processing information, which includes robots and ball's posture from vision subsystem with a host computer and sends command to robots directly. In order to suffice the need of the competition, the robots should satisfy the following demands: flexibility smoothing robustness, easy maintenance, low cost and the complete size within 7.5cm3.The paper respectively describes robot car's performance, functions, mechanical structure, electric control part, radio communication module, power resource, intelligent discharging device, detecting cell, etc. Bring outthe kinematics and dynamics equation of wheeled soccer robot and mathematical modeling on which the kinematics .md dynamics analyse based. Analyse the position by transformation of homogeneous coordinates and analyse the velocity and acceleration in various circumstances. Simulate the track and the pose of robots in different parameter by MATLAB, which deduces the basic parameters of motion control of the robots.