アクティブ双輪キャスタ機構を有するホロノミック全方向移動ロボットの動的制御 Dynamic Control for a Holonomic and Omnidirectional Mobile Robot with Active Dual-Wheel Caster Assemblies

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抄録

Recently, omnidirectional mobile robots with holonomic property have been studied actively. We have already developed a holonomic and omnidirectional mobile robot which consists of two active dual-wheel caster assemblies and also derived the kinematic models for the assembly and the mobile robot. In this paper, we further derive a dynamic model for the mobile robot by using the forces acting on the steering axis and construct a resolved acceleration control system based on the model to realize a dynamic control for the mobile robot. An experiment using a prototype robot is performed to prove the validity of the model and the effectiveness of the control system.

収録刊行物

  • 日本ロボット学会誌

    日本ロボット学会誌 20(2), 65-73, 2002-03-15

    The Robotics Society of Japan

参考文献:  16件中 1-16件 を表示

被引用文献:  1件中 1-1件 を表示

各種コード

  • NII論文ID(NAID)
    10008213104
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    6107759
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
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