Path following controller for planar robots with articulated, actuated and independently steerable velocity-limited wheels
| Autor: | Juha Röning, V. Pitkanen, Anssi Kemppainen, Antti Tikanmäki |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0301 basic medicine
0209 industrial biotechnology Engineering Robot kinematics business.industry 030106 microbiology Synchronizing Mobile robot Control engineering 02 engineering and technology Electronic differential law.invention 03 medical and health sciences 020901 industrial engineering & automation Robustness (computer science) law Control theory Robot business Torque steering Actuator |
| Zdroj: | ICRA |
| DOI: | 10.1109/icra.2017.7989283 |
| Popis: | Pseudo-omnidirectional robots with individually steerable wheels ofier a good balance between mobility, robustness and load-carrying capacity. However, accurate synchronization of the wheels' steering and rolling speeds is necessary to prevent energy-loss, mechanical stress and wheel slippage due to actuator infighting. This has proven to be a complex problem, especially when the wheels are not fixed to the robot body but are instead connected to it via actuated chains. This paper presents a mathematically simple method consisting of closed-form equations for path following and synchronizing the steering and rolling speeds of planar robots with a variable or fixed footprint, while respecting the velocity limits of each wheel's steering and rolling actuators. The presented method is thoroughly explained and simulation results are presented to show its performance. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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