DocumentCode
1920027
Title
Dynamic modelling and control design of a class of omnidirectional mobile robots
Author
Bétourné, Alain ; Campion, Guy
Author_Institution
Katholieke Univ., Leuven, Belgium
Volume
3
fYear
1996
fDate
22-28 Apr 1996
Firstpage
2810
Abstract
This paper is devoted to the dynamic analysis of real redundant mobile robots, for which, two types of constraints characterizing ideal redundant robots, are not satisfied: kinematic constraints related to the contact conditions between the wheels and the ground, and the geometric constraints related to the coordination of the wheel orientation angles. In order to assure a good trajectory tracking, an output feedback linearizing control law is derived and illustrated by simulation results
Keywords
control system synthesis; feedback; linearisation techniques; mobile robots; redundancy; robot dynamics; dynamic analysis; dynamic control design; dynamic modelling; geometric constraints; kinematic constraints; omnidirectional mobile robots; output feedback linearizing control law; redundant mobile robots; wheel orientation angles; Control design; Deformable models; Equations; Force control; Friction; Mobile robots; Robot kinematics; Robot motion; Torque; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.506588
Filename
506588
Link To Document