Disturbance analysis and control for an omnidirectional wheeled mobile robot
文献类型：会议论文
| 作者 | Song YX(宋亦旭); Tan DL(谈大龙); Miao, Meng |
| 出版日期 | 2009 |
| 会议名称 | 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009 |
| 会议日期 | August 9-12, 2009 |
| 会议地点 | Changchun, China |
| 关键词 | Kinematics Machine design Mechatronics Mobile robots Sensors Wheels |
| 页码 | 3241-3245 |
| 中文摘要 | The mobile robot with an orthogonal-wheel assembly has omnidirectional motion ability and simple kinematic model for controller design. However, two sliced spheres that switch upon movement are likely to cause disturbances that act on the wheeled motor robot (WMR)'s body. The purpose of the traditional control for a WMR is high joint control stiffness using odometry, which might worsen the trajectory tracking performance of the WMR with orthogonalwheel assemblies. This is because the robot's vibration might cause wheel slippage. Thus, the real-time motion states of the WMR body must be obtained to enable the robot controller to suppress such vibration. This paper provides a method with which to estimate the velocities of the WMR using inner sensors. In our proposed method, the real-time velocities of the WMR are estimated using accelerometers and position-measurement sensors. The fused signal is fed into the WMR controller instead of into the odometry feedback signal. The experimental results demonstrate that the proposed method is effective. |
| 收录类别 | EI |
| 产权排序 | 2 |
| 会议主办者 | IEEE Robotics and Automation Society; Changchun University of Science and Technology; Kagawa University |
| 会议录 | 2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
 |
| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Piscataway, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-2693-5 |
| 源URL | [http://ir.sia.cn/handle/173321/10435]  |
| 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,Miao, Meng. Disturbance analysis and control for an omnidirectional wheeled mobile robot[C]. 见:2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009. Changchun, China. August 9-12, 2009. |
入库方式： OAI收割
来源：沈阳自动化研究所
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