DocumentCode
2533197
Title
Modeling and control of a mobile robot subject to disturbances
Author
Joshi, Jagdish ; Desrochers, Alan A.
Author_Institution
Rensselaer Polytechnic Institute Troy, New York
Volume
3
fYear
1986
fDate
31503
Firstpage
1508
Lastpage
1513
Abstract
This work is concerned with the modeling and control of a robot that is mounted on a moving platform. The platform is subjected to random disturbances along its pitch, yaw, and roll axes. A controller is designed so that the robot can carry out tasks with respect to the robot base frame. In general, the problem is to investigate the various modeling and control issues involved in robotic systems subjected to time varying disturbances.
Keywords
Control systems; Equations; Lagrangian functions; Mobile robots; Potential energy; Robot control; Robot kinematics; Systems engineering and theory; Time varying systems; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1986.1087495
Filename
1087495
Link To Document