Resolved motion rate and resolved acceleration servocontrol of wheeled mobile robots
- 4 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1133-1140 vol.2
- https://doi.org/10.1109/robot.1990.126148
Abstract
The authors apply two Cartesian-space manipulator control algorithms, resolved motion rate (kinematics-based) and resolved acceleration (dynamics-based) control, to wheeled mobile robot (WMR) servo control. They evaluate simulation studies of two exemplary WMRs-Uranus, a three-degree-of-freedom WMR, and Bicsun-Bicas, a two-degree-of-freedom WMR-under the control of these algorithms. Although resolved-motion-rate servo control is adequate for the control of Uranus, resolved-acceleration servo control is required for the control of the mechanically simpler Bicsun-Bicas because it exhibits more dynamic coupling and nonlinearities.Keywords
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