書誌事項
- タイトル別名
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- Dynamic Control for a Holonomic and Omnidirectional Mobile Robot with Active Dual-Wheel Caster Assemblies.
- アクティブソウリン キャスタ キコウ オ ユウスル ホロノミック ゼン ホウコウ イドウ ロボット ノ ドウテキ セイギョ
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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
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- 日本ロボット学会誌
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日本ロボット学会誌 20 (2), 187-195, 2002
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390282679703434752
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- NII論文ID
- 10008213104
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 6107759
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可