کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
411700 | 679588 | 2009 | 13 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Characterization of zero tracking error references in the kinematic control of wheeled mobile robots
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موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Characterization of zero tracking error references in the kinematic control of wheeled mobile robots Characterization of zero tracking error references in the kinematic control of wheeled mobile robots](/preview/png/411700.png)
چکیده انگلیسی
This work establishes the reference signal conditions for zero tracking error when controlling wheeled mobile robots under the kinematic framework, that is, when the low-level dynamics is neglected. The reference characterization is based on the classical decoupled robot control and the inverse kinematics of fixed, centered orientable, castor and Swedish wheels. Procedures to avoid tracking error when a particular condition is not satisfied are also indicated. Simulations are shown to illustrate the reference conditions for each type of mobile robot and their implications. Finally, an industrial forklift is considered in a real situation to validate the previous results and to highlight the limits of the kinematic framework assumption.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 57, Issues 6–7, 30 June 2009, Pages 565–577
Journal: Robotics and Autonomous Systems - Volume 57, Issues 6–7, 30 June 2009, Pages 565–577
نویسندگان
Luis Gracia, Josep Tornero,