Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
411700 | Robotics and Autonomous Systems | 2009 | 13 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Luis Gracia, Josep Tornero,