Title :
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.
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;
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
DOI :
10.1109/ICELIE.2006.347193
