Kinematic Analysis of an Omnidirectional Mobile Robot with MY Wheels
文献类型：会议论文
| 作者 | Ye ZL(叶长龙); Li HY(李怀勇); Ma SG(马书根)
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| 出版日期 | 2011 |
| 会议名称 | 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 |
| 会议日期 | December 7-11, 2011 |
| 会议地点 | Phuket, Thailand |
| 关键词 | Biomimetics Errors Kinematics Mobile robots Motion control Robotics Vehicles |
| 页码 | 1748-1753 |
| 中文摘要 | In this paper, the kinematic model of an omnidirectional mobile robot with special MY wheels is built to analyze its kinematics performance on vibration, control and errors that are caused by the specific structural feature of MY wheels. Trajectory errors, which are induced by vibration in the motion, are reduced distinctly by the proposed control method of both optimized contact distance and improved rotational speed of MY wheel. It can improve the stability of movement for the robot by employing sinusoidal control law to control the angular velocity of MY wheel reasonably. Simulation results are provided to demonstrate the performance of proposed approaches. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robotics and Automation Society |
| 会议录 | 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4577-2138-0 |
| 源URL | [http://ir.sia.cn/handle/173321/10206]  |
| 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 | Ye ZL,Li HY,Ma SG. Kinematic Analysis of an Omnidirectional Mobile Robot with MY Wheels[C]. 见:2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. Phuket, Thailand. December 7-11, 2011. |
入库方式： OAI收割
来源：沈阳自动化研究所
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