Title :
Control of a robot with a swedish and a standard wheel
Author :
Gruber, Christoph ; Hofbaur, Michael
Author_Institution :
Inst. of Autom. & Control Eng., UMIT, Hall, Austria
Abstract :
In this work, a novel design of a wheeled mobile robot (WMR) and an associated motion controller are presented. The kinematic design of the robot combines the advantages of standard wheels and Swedish wheels. The control problems of posture stabilization and posture tracking are solved using a single, singularity-free static state feedback and feedforward linearization controller. The practicability of the robot as well as the controller are demonstrated in real-world experiments.
Keywords :
feedforward; linearisation techniques; mobile robots; motion control; robot kinematics; state feedback; wheels; Swedish wheel; WMR; feedforward linearization controller; motion controller; posture stabilization; posture tracking; robot control; robot kinematic design; singularity-free static state feedback; standard wheel; wheeled mobile robot design; Feedforward neural networks; Mobile robots; Standards; Trajectory; Vectors; Wheels;
Conference_Titel :
Mobile Robots (ECMR), 2013 European Conference on
Conference_Location :
Barcelona
DOI :
10.1109/ECMR.2013.6698852