Research on motion control of omnidirectional platform based on virtual prototyping
Aiming at the anisotropy of omnidirectional motion, firstly, the kinematic model is analysed in this paper, then dynamic model based on Lagrange dynamics and virtual prototyping model made by dynamic software RecurDyn are built respectively. The influence of wheels' slippage toward direction of translation and maximal velocity is simualted and analysed on the same ground, we derives the anisotropy of slip ratio. The feedback loop of position and orientation is used to follow desired path, which settles the basis of further research on motion control.
The article examines the general affirmation that communication networks and mobility are important to science by examining how these factors played a relevant role in one specific case, that is, research on the embryology of certain species of armadillos in the early twentieth century. As we show, access to pregnant females of the species and transport time from the wild to the laboratory were significant issues in the early days of such research. The strategies used to obtain field samples, the temporality of certain phenomena, the commercial circuits of which the organisms under study were a part, and the transformations they underwent in the laboratory all afford a glimpse at some aspects of how these scientists approached their work and what problems they faced in producing new knowledge.