Motion control of mobile wheeled robots |
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Authors: | Yu G Martynenko |
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Institution: | (1) Lomonosov Moscow State University, Russia |
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Abstract: | A vector-matrix formalism of nonholonomic mechanics is set up, which is used to construct mathematical models of mobile wheeled
robots. The properties of free (ballistic) motions of mobile robots, which can be the basis of natural motion control modes,
are studied. The analysis of uncontrollable motions is carried out, taking transients in circuits of the electric drive into
consideration. The problem of determining voltages supplied to drives of the robot that ensure implementation of program motions
is discussed. One candidate solution of a problem of planning a pathway of the robot in an ordered medium is presented. A
mobile single-wheeled robot with a gyroscopic stabilization system is described—the “Gyrowheel” robot, capable of moving autonomously
along a straight-line (rectilinear motion), as well as along a curvilinear pathway.
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Translated from Fundamentalnaya i Prikladnaya Matematika, Vol. 11, No. 8, pp. 29–80, 2005. |
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