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Titolo:
Dynamic model and control for a holonomic omnidirectional mobile robot
Autore:
Yamada, T; Watanabe, K; Kiguchi, K; Izumi, K;
Indirizzi:
Saga Univ, Grad Sch Sci & Engn, Dept Adv Syst Control Engn, Saga 8408502, Japan Saga Univ Saga Japan 8408502 Adv Syst Control Engn, Saga 8408502, Japan Saga Univ, Fac Sci & Engn, Dept Mech Engn, Saga 8408502, Japan Saga Univ Saga Japan 8408502 & Engn, Dept Mech Engn, Saga 8408502, Japan
Titolo Testata:
AUTONOMOUS ROBOTS
fascicolo: 2, volume: 11, anno: 2001,
pagine: 173 - 189
SICI:
0929-5593(200109)11:2<173:DMACFA>2.0.ZU;2-M
Fonte:
ISI
Lingua:
ENG
Soggetto:
MECHANISM; VEHICLES; DESIGN;
Keywords:
omnidirectional mobile robot; active dual-wheel caster assembly; holonomic property; dynamic model; resolved acceleration control;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
13
Recensione:
Indirizzi per estratti:
Indirizzo: Yamada, T Saga Univ, Grad Sch Sci & Engn, Dept Adv Syst Control Engn, 1 Honjomachi, Saga 8408502, Japan Saga Univ 1 Honjomachi Saga Japan 8408502 , Saga 8408502, Japan
Citazione:
T. Yamada et al., "Dynamic model and control for a holonomic omnidirectional mobile robot", AUTON ROBOT, 11(2), 2001, pp. 173-189

Abstract

In the recent past, mobile robots with high mobility have been developed actively. We have already proposed a holonomic and omnidirectional mobile robot using two active dual-wheel caster assemblies and also derived the kinematic models for the assembly and the mobile robot. This paper presents dynamic analysis and control for the mobile robot. The dynamic model has been derived based on the forces acting on the steering axis. Then a model-basedresolved acceleration controller is constructed. The validity of the modeland the effectiveness of the control system are confirmed by experiments using a prototype robot as well as simulations.

ASDD Area Sistemi Dipartimentali e Documentali, Università di Bologna, Catalogo delle riviste ed altri periodici
Documento generato il 27/09/20 alle ore 00:58:36