Dynamic Modeling with Nonsqueezing Load Distribution for Omnidirectional Mobile Robots with Powered Caster Wheels
文献类型：会议论文
| 作者 | Jia, Wenji; Yang, Guilin; Zhang, Chi; Chen, Guodong |
| 出版日期 | 2018 |
| 会议日期 | MAY 31-JUN 02, 2018 |
| 英文摘要 | This paper presents a novel dynamic modelling approach for omnidirectional mobile robots with Powered Caster Wheels (PCWs). With the conventional dynamic model, the internal forces induced by the redundant PCWs cannot be computed and controlled, which will significantly reduce the driving efficiency 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 mobile robot. By this new dynamic model, the driving force applied by each PCW is distributed as evenly as possible without inducing any internal forces. To illustrate the proposed dynamic modeling method, a computation example is provided. |
| 会议录出版者 | IEEE Conference on Industrial Electronics and Applications |
| 学科主题 | Engineering |
| ISSN号 | 2156-2318 |
| ISBN号 | 978-1-5386-3758-6 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23335]  |
| 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,Zhang, Chi,et al. Dynamic Modeling with Nonsqueezing Load Distribution for Omnidirectional Mobile Robots with Powered Caster Wheels[C]. 见:. MAY 31-JUN 02, 2018. |
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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