Title :
Resolved motion rate and resolved acceleration servocontrol of wheeled mobile robots
Author :
Muir, Patrick F. ; Neuman, Charles P.
Author_Institution :
Sandia Nat. Lab., Albuquerque, NM, USA
Abstract :
The authors apply two Cartesian-space manipulator control algorithms, resolved motion rate (kinematics-based) and resolved acceleration (dynamics-based) control, to wheeled mobile robot (WMR) servo control. They evaluate simulation studies of two exemplary WMRs-Uranus, a three-degree-of-freedom WMR, and Bicsun-Bicas, a two-degree-of-freedom WMR-under the control of these algorithms. Although resolved-motion-rate servo control is adequate for the control of Uranus, resolved-acceleration servo control is required for the control of the mechanically simpler Bicsun-Bicas because it exhibits more dynamic coupling and nonlinearities
Keywords :
acceleration control; mobile robots; Bicsun-Bicas; Cartesian-space manipulator control algorithms; Uranus; dynamic coupling; nonlinearities; resolved acceleration servocontrol; resolved motion rate; three-degree-of-freedom; two-degree-of-freedom; wheeled mobile robots; Acceleration; Control systems; Kinematics; Laboratories; Manipulator dynamics; Mobile robots; Motion control; Pulse width modulation; Servosystems; Wheels;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126148
