Maneuver Control and Kinematical Energy Analysis of a Robot Based on Instantaneous Center of Rotation

Author

Xu, He ; Xue, Kai ; Wang, Ping ; Marie, Bernard Sidible ; Wei, Ran ; Jin, Bao

Author_Institution

Coll. of Mechanic & Electr. Eng., Harbin Eng. Univ.

fYear

2006

fDate

18-20 Dec. 2006

Firstpage

101

Lastpage

106

Abstract

The deduction process of maneuver algorithm in explicit format for wheeled mobile robot with four-steered four-driven wheels (4WS4WD) is discussed in this paper. The approach adopted by this paper is the synthesis of all sub-section analytical geometry analysis. Based on the instantaneous center of rotation (ICR), a generic maneuver algorithm has been presented. And the kinematical energy of the four wheels of the robot is analyzed based on the isotropy structure of this category robot. Results of simulation and experiments are implemented to validate the proposed control algorithms

Keywords

mobile robots; motion control; robot kinematics; four-steered four-driven wheels; instantaneous center of rotation; kinematical energy analysis; maneuver control; wheeled mobile robot; Helium; Mobile robots; Motion control; Orbital robotics; Power engineering and energy; Radio access networks; Railway engineering; Robot kinematics; Testing; Wheels; generic maneuver algorithm; instantaneous center of rotation; wheeled mobile robot;

fLanguage

English

Publisher

ieee

Conference_Titel

E-Learning in Industrial Electronics, 2006 1ST IEEE International Conference on

Conference_Location

Hammamet

Print_ISBN

1-4244-0324-3

Electronic_ISBN

1-4244-0324-3

Type

conf

DOI

10.1109/ICELIE.2006.347193

Filename

4152776