전자공학회논문지B (Journal of the Korean Institute of Telematics and Electronics B)
- 제33B권4호
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- Pages.1-10
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- 1996
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- 1016-135X(pISSN)
제한된 구동 토크를 갖는 4륜 2 자유도 구류 로보트의 모델링과 경로추적
Modeling and Path-tracking of FourWheeled Mobile Robot with 2 D.O.F having the Limited Drive-Torques
초록
In this paper are presented kinematic and dynamic modeling and path-tracking of fourwhelled mobile robot with 2 d.o.f. having the limited drivetorques. Controllability of wheeled-mobile robot is revealed by using the kinematic model. Instantaneously coincident coordinate cystem, force/torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robot follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.
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