DocumentCode
313715
Title
Wheel rolling constraints and slip in mobile robots - simulation results
Author
Shekhar, Shashank
Author_Institution
Oak Ridge Nat. Lab., TN, USA
Volume
1
fYear
1997
fDate
4-6 Jun 1997
Firstpage
542
Abstract
Previously, we (1997) established that wheel slip is inevitable under the dynamic model of motion using classical results on the accessibility and controllability in nonlinear control theory and an analytical model of rolling of two linearly elastic bodies. In this paper, we present simulation results on the magnitude of such slip based on Kalker´s simplified linear theory of the traction forces at the wheel-ground interface
Keywords
approximation theory; controllability; creep; mobile robots; motion control; robot dynamics; robot kinematics; Kalker linear theory; accessibility; approximation theory; controllability; dynamic model; kinematics; mobile robots; rolling contact; wheel slip; Analytical models; Control theory; Controllability; Creep; Kinematics; Linear approximation; Logistics; Mobile robots; Motion analysis; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1997. Proceedings of the 1997
Conference_Location
Albuquerque, NM
ISSN
0743-1619
Print_ISBN
0-7803-3832-4
Type
conf
DOI
10.1109/ACC.1997.611858
Filename
611858
Link To Document