Real-time control using explicit dynamic solutions of a two-motion-modes mobile robot

Cited 0 time in webofscience Cited 0 time in scopus
  • Hit : 289
  • Download : 0
In this study a two-motion-modes mobile robot is developed. The motion of the mobile robot is controlled by three d.c. servo-motors, two of which drive two wheels independently and one of which steers the wheels simultaneously. The two motion modes of the mobile robot, different velocity motion (DVM) and equal velocity motion (EVM), are analysed. Kinematic and dynamic analyses of the two motion modes are performed. For the implementation of real-time control considering mobile robot dynamics, the forward and inverse dynamic solutions are derived explicitly. Through a simulation, the path-tracking and control performance of the mobile robot considering dynamics is compared with the considering kinetics only, and the possibility of real-time dynamic control is proved.
Publisher
SAGE Publications Ltd
Issue Date
1994
Language
English
Citation

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS. PART I, v.208, no.3, pp.157 - 167

ISSN
0959-6518
URI
http://hdl.handle.net/10203/66868
Appears in Collection
ME-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0