A Nonsqueezing Torque Distribution Method for an Omnidirectional Mobile Robot with Powered Castor Wheels
文献类型：会议论文
| 作者 | Jia, Wenji; Yang, Guilin; Wang, Chongchong; Liu, Qiang; Fang, Zaojun; Chen, Chinyin |
| 出版日期 | 2019 |
| 会议日期 | AUG 08-11, 2019 |
| 卷号 | 11740 |
| DOI | 10.1007/978-3-030-27526-6_62 |
| 英文摘要 | This paper presents a novel dynamic modelling approach for omnidirectional mobile robots (OMRs) with powered caster wheels (PCWs). For the conventional dynamic modeling, the internal forces induced by the redundant actuation of the OMR are not analyzed, which will affect the dynamic performance and result in unstable robot motions. To eliminate the internal forces, a general nonsqueezing load distribution model is proposed and integrated with the dynamic model of the OMR. By the nonsqueezing dynamic model, the driving torques applied by the PCWs all contribute to the motion of the OMR. Consequently, the required driving torques are reduced compared to the conventional torque distribution method, which will improve the dynamic performance and energy efficiency for the OMR. To illustrate the effectiveness of the nonsqueezing dynamic model, simulation examples are provided. |
| 会议录出版者 | Lecture Notes in Artificial Intelligence |
| 学科主题 | Computer Science ; Robotics |
| ISSN号 | 0302-9743 |
| ISBN号 | 978-3-030-27526-6; 978-3-030-27525-9 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23285]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Jia, Wenji,Yang, Guilin,Wang, Chongchong,et al. A Nonsqueezing Torque Distribution Method for an Omnidirectional Mobile Robot with Powered Castor Wheels[C]. 见:. AUG 08-11, 2019. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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