| Autor: |
Andrea Botta, Paride Cavallone, Luigi Tagliavini, Luca Carbonari, Carmen Visconte, Giuseppe Quaglia |
| Jazyk: |
angličtina |
| Rok vydání: |
2021 |
| Předmět: |
|
| Zdroj: |
Applied Sciences, Vol 11, Iss 4, p 1594 (2021) |
| Druh dokumentu: |
article |
| ISSN: |
2076-3417 |
| DOI: |
10.3390/app11041594 |
| Popis: |
In this paper, the effects of wheel slip compensation in trajectory planning for mobile tractor-trailer robot applications are investigated. Firstly, a kinematic model of the proposed robot architecture is marked out, then an experimental campaign is done to identify if it is possible to kinematically compensate trajectories that otherwise would be subject to large lateral slip. Due to the close connection to the experimental data, the results shown are valid only for Epi.q, the prototype that is the main object of this manuscript. Nonetheless, the base concept can be usefully applied to any mobile robot subject to large lateral slip. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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