Resolved Motion Rate and Resolved Acceleration Servo-Control of Wheeled Mobile Robots
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 2, pp. 1133 - 1140, May, 1990
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.
BibTeX
@conference{Muir-1990-13101,author = {Patrick Muir and C. P. Neuman},
title = {Resolved Motion Rate and Resolved Acceleration Servo-Control of Wheeled Mobile Robots},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1990},
month = {May},
volume = {2},
pages = {1133 - 1140},
}
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