Title :
A New Family of Two-Wheeled Mobile Robots: Modeling and Controllability
Author :
Salerno, Alessio ; Angeles, Jorge
Author_Institution :
Dept. of Mech. Eng., McGill Univ., Montreal, Que.
Abstract :
This paper introduces a new family of two-wheeled mobile robots. The mathematical model of the proposed robots is formulated along with a controllability analysis, also taking into account the oscillations of the intermediate body. We prove that it is possible to completely control these robots using only the wheel motors, while tracking a desired path
Keywords :
controllability; mobile robots; oscillations; controllability analysis; nonholonomic system; oscillations; quasiholonomic robot; two-wheeled mobile robots; wheel motors; Controllability; Electrical equipment industry; Mathematical model; Mechanical engineering; Mobile robots; Prototypes; Robot control; Robot sensing systems; Service robots; Wheels; Controllability; multibody system dynamics; nonholonomic (NH) robots; wheeled mobile robots (WMRs);
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2006.886277
