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Kinematic Analysis of an Omnidirectional Mobile Robot with MY Wheels
Ye ZL(叶长龙); Li HY(李怀勇); Ma SG(马书根)
作者部门机器人学研究室
会议名称2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
会议日期December 7-11, 2011
会议地点Phuket, Thailand
会议主办者IEEE Robotics and Automation Society
会议录名称2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
出版者IEEE
出版地New York, USA
2011
页码1748-1753
收录类别EI
EI收录号20122015013889
产权排序1
ISBN号978-1-4577-2138-0
关键词Biomimetics Errors Kinematics Mobile Robots Motion Control Robotics Vehicles
摘要In this paper, the kinematic model of an omnidirectional mobile robot with special MY wheels is built to analyze its kinematics performance on vibration, control and errors that are caused by the specific structural feature of MY wheels. Trajectory errors, which are induced by vibration in the motion, are reduced distinctly by the proposed control method of both optimized contact distance and improved rotational speed of MY wheel. It can improve the stability of movement for the robot by employing sinusoidal control law to control the angular velocity of MY wheel reasonably. Simulation results are provided to demonstrate the performance of proposed approaches.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10206
专题机器人学研究室
作者单位1.School of Mechatronics Engineering, Shenyang Aerospace University, 110136, Shenyang, China
2.State Robotics Laboratory, Shenyang Institute of Automation, 110016, Shenyang, China
3.Department of Robotics, Ritsumeikan University, 525-8577, Kusatsu, Japan
推荐引用方式
GB/T 7714
Ye ZL,Li HY,Ma SG. Kinematic Analysis of an Omnidirectional Mobile Robot with MY Wheels[C]//IEEE Robotics and Automation Society. New York, USA:IEEE,2011:1748-1753.
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