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题名: Active tension control for WT wheelchair robot by using a novel control law for holonomic or nonholonomic systems
作者: Wang J(王剑) ; Wang T(王挺) ; Yao C(姚辰) ; Li XF(李小凡) ; Wu CD(吴成东)
作者部门: 机器人学研究室
关键词: Control theory ; MATLAB ; Robots ; Stairs
刊名: Mathematical Problems in Engineering
ISSN号: 1024-123X
出版日期: 2013
卷号: 2013
收录类别: SCI ; EI
产权排序: 1
摘要: Interactional characteristics between WT wheelchair robot and stair environment are analyzed, and possible patterns of WT wheelchair robot during the stair-climbing process are summarized, with the criteria of the wheelchair robot for determining the pattern proposed. Aiming at WT wheelchair robot's complicated mechanism with holonomic constraints and combined with the computed torque method, a novel control law that is called active tension control is presented for holonomic or nonholonomic robotic systems, by which the wheelchair robot with a holonomic or nonholonomic mechanism can track the reference input of the constraint forces of holonomic or nonholonomic constraints as well as tracking the reference input of the generalized coordinate of each joint. A stateflow module of Matlab is used to simulate the entire stair-climbing process for WT wheelchair robot. A comparison of output curve with the reference input curve of each joint is made, with the effectiveness of the presented control law verified. © 2013 Jian Wang et al.
语种: 英语
WOS记录号: WOS:000325293900001
WOS标题词: Science & Technology ; Technology ; Physical Sciences
类目[WOS]: Engineering, Multidisciplinary ; Mathematics, Interdisciplinary Applications
关键词[WOS]: MECHANICAL SYSTEMS ; TRACKING ; MANIPULATORS ; STABILIZATION
研究领域[WOS]: Engineering ; Mathematics
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/14070
Appears in Collections:机器人学研究室_期刊论文

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Recommended Citation:
王剑; 王挺; 姚辰; 李小凡; 吴成东.Active tension control for WT wheelchair robot by using a novel control law for holonomic or nonholonomic systems,Mathematical Problems in Engineering,2013,2013():
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文件名: Active tension control for WT wheelchair robot by using a novel control law for holonomic or nonholonomic systems.pdf
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