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题名: Experimental identification of the dynamics parameters of a omnidirectional wheeled mobile robot
作者: Song YX(宋亦旭) ; Tan DL(谈大龙) ; Tian Y(田宇)
作者部门: 机器人学研究室
会议名称: 4th World Congress on Intelligent Control and Automation
会议日期: June 10-14, 2002
会议地点: SHANGHAI, China
会议主办者: Tongji Univ, Shanghai Jiaotong Univ, E China Univ Sci & Technol, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Shanghai Assoc Automat
会议录: PROCEEDINGS OF THE 4TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-4
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2002
页码: 1175-1178
收录类别: CPCI(ISTP) ; EI
ISBN号: 0-7803-7268-9
关键词: mobile robot ; dynamics ; identification
摘要: The accuracy of controllers based model relies highly on the ability of the robot model to accurately predict the required actuator toques, e.g. computed toque control. This paper discusses the experimental identification of the dynamics model of an omnidirectional mobile robot. The experimental results presented that the accurate estimation of parameters of dynamics model is attainable and these estimated parameters will be useful for robust controllers.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8695
Appears in Collections:机器人学研究室_会议论文

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