DocumentCode
665513
Title
Control of a robot with a swedish and a standard wheel
Author
Gruber, Christoph ; Hofbaur, Michael
Author_Institution
Inst. of Autom. & Control Eng., UMIT, Hall, Austria
fYear
2013
fDate
25-27 Sept. 2013
Firstpage
261
Lastpage
267
Abstract
In this work, a novel design of a wheeled mobile robot (WMR) and an associated motion controller are presented. The kinematic design of the robot combines the advantages of standard wheels and Swedish wheels. The control problems of posture stabilization and posture tracking are solved using a single, singularity-free static state feedback and feedforward linearization controller. The practicability of the robot as well as the controller are demonstrated in real-world experiments.
Keywords
feedforward; linearisation techniques; mobile robots; motion control; robot kinematics; state feedback; wheels; Swedish wheel; WMR; feedforward linearization controller; motion controller; posture stabilization; posture tracking; robot control; robot kinematic design; singularity-free static state feedback; standard wheel; wheeled mobile robot design; Feedforward neural networks; Mobile robots; Standards; Trajectory; Vectors; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Mobile Robots (ECMR), 2013 European Conference on
Conference_Location
Barcelona
Type
conf
DOI
10.1109/ECMR.2013.6698852
Filename
6698852
Link To Document