Optimal Actuation for an Omnidirectional Mobile Platform with Three Ball Wheels

Autor:	Steven A. Velinsky, Farid Ganji
Rok vydání:	2011
Předmět:	Engineering business.industry Mechanical Engineering General Mathematics Aerospace Engineering Ocean Engineering Highway maintenance Condensed Matter Physics Motion control Computer Science::Robotics Torque distribution Mechanics of Materials Control theory Automotive Engineering Redundancy (engineering) Ball (bearing) business Omnidirectional antenna Simulation ComputingMethodologies_COMPUTERGRAPHICS Civil and Structural Engineering Parametric statistics
Zdroj:	Mechanics Based Design of Structures and Machines. 39:1-21
ISSN:	1539-7742 1539-7734
DOI:	10.1080/15397734.2011.518941
Popis:	This paper presents a method for optimally actuating a novel omnidirectional wheeled mobile platform with three driven ball wheels. This platform, which will be integrated with a manipulator, is designed for use in unstructured and congested environments such as those of highway maintenance and construction work sites. The designed ball wheel mobile platform can move in all directions on the plane, instantaneously and isotropically. For accurate motion control with parametric uncertainty in the dynamic model, an adaptive controller is applied for trajectory tracking control of the three-ball wheel platform. Each ball wheel has two active drive mechanisms which makes the platform redundantly actuated for in-plane motion. As such, a pseudo-inverse method is used for redundancy resolution and optimal torque distribution. Simulation results demonstrate the effectiveness of the approach.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::e3dfe3346ebedf843dc9a9a247074706 https://doi.org/10.1080/15397734.2011.518941 Zobrazit plný text záznamu Plný text ve formátu PDF Plný text ve formátu HTML
Nepřihlášeným uživatelům se plný text nezobrazuje	K zobrazení výsledku je třeba se přihlásit.