Title :
Dynamic modelling and control design of a class of omnidirectional mobile robots
Author :
Bétourné, Alain ; Campion, Guy
Author_Institution :
Katholieke Univ., Leuven, Belgium
Abstract :
This paper is devoted to the dynamic analysis of real redundant mobile robots, for which, two types of constraints characterizing ideal redundant robots, are not satisfied: kinematic constraints related to the contact conditions between the wheels and the ground, and the geometric constraints related to the coordination of the wheel orientation angles. In order to assure a good trajectory tracking, an output feedback linearizing control law is derived and illustrated by simulation results
Keywords :
control system synthesis; feedback; linearisation techniques; mobile robots; redundancy; robot dynamics; dynamic analysis; dynamic control design; dynamic modelling; geometric constraints; kinematic constraints; omnidirectional mobile robots; output feedback linearizing control law; redundant mobile robots; wheel orientation angles; Control design; Deformable models; Equations; Force control; Friction; Mobile robots; Robot kinematics; Robot motion; Torque; Wheels;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.506588
