Dynamics analysis and control of a holonomic vehicle with a continuously variable transmission

Author

Tahboub, Karim A. ; Asada, Harry H.

Author_Institution

Dept. of Mech. Eng., MIT, Cambridge, MA, USA

Volume

3

fYear

2000

fDate

2000

Firstpage

2466

Abstract

This paper presents kinematic and dynamic analysis of a holonomic vehicle with continuously-variable transmission. Four ball wheels, independently actuated by DC motors, enable for moving the vehicle in any direction within the plane and rotating it around its center. The angle between the two beams holding the balls can be changed to alter the gear ratio and other dynamical characteristics of the vehicle. This feature is exploited in augmenting the vehicle stability, optimizing output power, selecting an appropriate gear ratio, and in impedance matching. A simple adaptive friction-compensation-based controller is proposed to handle the complex friction properties

Keywords

adaptive control; compensation; force control; friction; mobile robots; robot dynamics; robot kinematics; stability; vehicles; adaptive control; continuously-variable transmission; dynamics; friction-compensation; holonomic vehicle; impedance matching; kinematics; omnidirectional vehicle; stability; DC motors; Gears; Impedance matching; Kinematics; Power generation; Programmable control; Stability; Vehicle dynamics; Vehicles; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.846399

Filename

846399