Experimental identification of the dynamics parameters of a omnidirectional wheeled mobile robot
文献类型:会议论文
作者 | Song YX(宋亦旭); Tan DL(谈大龙); Tian Y(田宇)![]() |
出版日期 | 2002 |
会议名称 | 4th World Congress on Intelligent Control and Automation |
会议日期 | June 10-14, 2002 |
会议地点 | SHANGHAI, China |
关键词 | mobile robot dynamics identification |
页码 | 1175-1178 |
中文摘要 | The accuracy of controllers based model relies highly on the ability of the robot model to accurately predict the required actuator toques, e.g. computed toque control. This paper discusses the experimental identification of the dynamics model of an omnidirectional mobile robot. The experimental results presented that the accurate estimation of parameters of dynamics model is attainable and these estimated parameters will be useful for robust controllers. |
收录类别 | EI ; CPCI(ISTP) |
产权排序 | 1 |
会议主办者 | Tongji Univ, Shanghai Jiaotong Univ, E China Univ Sci & Technol, IEEE Robot & Automat Soc, IEEE Control Syst Soc, Beijing Chapter, Chinese Assoc Automat, Shanghai Assoc Automat |
会议录 | PROCEEDINGS OF THE 4TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-4
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会议录出版者 | IEEE |
会议录出版地 | NEW YORK |
语种 | 英语 |
ISBN号 | 0-7803-7268-9 |
WOS记录号 | WOS:000179017500251 |
源URL | [http://ir.sia.cn/handle/173321/8695] ![]() |
专题 | 沈阳自动化研究所_机器人学研究室 |
推荐引用方式 GB/T 7714 | Song YX,Tan DL,Tian Y. Experimental identification of the dynamics parameters of a omnidirectional wheeled mobile robot[C]. 见:4th World Congress on Intelligent Control and Automation. SHANGHAI, China. June 10-14, 2002. |
入库方式: OAI收割
来源:沈阳自动化研究所
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