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There are 3 planar DOF of omnidirectional motion device. The kinematic model is analysed according to the construction of Mecanum wheel in this paper, generalized inverse motion equation of steering is derived. Then virtual prototyping model is built by dynamic software RecurDyn, several typical steering motion is simulated and validated, which settles the basis of further research on motion control...
Wheeled inverted pendulum (WIP) models have been widely used in the field of autonomous robotics and intelligent vehicles. A novel transportation system, WIP-car is proposed in this paper, which is composed of a mobile wheeled inverted pendulum system, a driven chair, an acceleration pedal and a deceleration pedal, which are used to drive the chair forward or backward such that the car can be accelerated...
Numerous service robots have wheels for motion. Robots with wheels move stably in a 2D plane. At the moment of acceleration, various methods for maintaining stability are required. Most four-wheeled service robots have low velocity and acceleration because of their high center of mass. For high speed and dynamic movement, we need control methods to stabilize the robots. One of the fastest service...
Aiming at path planning for the complex mobile entity in a strait environment, based on hull searching algorithm, a set of folding linear path candidates were found out, in order to enhance the success rate of path planned, the folding linear paths were transformed to the arcs by utilizing subsection arc algorithm. After the motion trace of the mobile entity was given, the security of the path is...
Two-wheeled mobile manipulator systems have many advantages compared to the statically stable systems. Due to the highly nonlinear underactuated structure (more degrees of freedom than the number of actuators), it is difficult to control the motion of wheels and stability of underactuated joint at the same time by wheels. In this paper, we deal with motion control of the wheels through CoG (Center...
A mobile manipulator service robot comprising a mobile platform with a three-link arm mounted on top of the platform is considered. A torque compensation control approach is proposed for the robust motion control of the robot. Considering the coupling disturbance between the platform and the manipulator, the nominal model of service robot is built, applying computed torque and proportion-differential...
The paper addresses autonomous motion control (path-following in particular) of an articulated-frame-steering (AFS) hydraulically actuated mobile machine. We first propose a kinematic model of the vehicle, together with a simple model for steering hydraulic actuator. The kinematic model is derived under simplifying assumptions that there are no slipping and no skidding. The accuracy of the model is...
A robust compensation control is proposed as an approach for the robust motion control of a mobile manipulator service robot comprising a mobile platform with a two-link arm mounted on top of the platform. Considering the coupling disturbance between the platform and the manipulator, nominal model of service robot is built, computed torque and proportion-differential (PD) feedback control method is...
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