Title :
Wheel rolling constraints and slip in mobile robots - simulation results
Author :
Shekhar, Shashank
Author_Institution :
Oak Ridge Nat. Lab., TN, USA
Abstract :
Previously, we (1997) established that wheel slip is inevitable under the dynamic model of motion using classical results on the accessibility and controllability in nonlinear control theory and an analytical model of rolling of two linearly elastic bodies. In this paper, we present simulation results on the magnitude of such slip based on Kalker´s simplified linear theory of the traction forces at the wheel-ground interface
Keywords :
approximation theory; controllability; creep; mobile robots; motion control; robot dynamics; robot kinematics; Kalker linear theory; accessibility; approximation theory; controllability; dynamic model; kinematics; mobile robots; rolling contact; wheel slip; Analytical models; Control theory; Controllability; Creep; Kinematics; Linear approximation; Logistics; Mobile robots; Motion analysis; Wheels;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.611858
