전기학회논문지P (The Transactions of the Korean Institute of Electrical Engineers P)
- 제51권1호
- /
- Pages.45-51
- /
- 2002
- /
- 1229-800X(pISSN)
- /
- 2586-7792(eISSN)
구동토크의 제약을 갖는 차동 구륜이동로봇의 동역학 모델링과 경로추적
Dynamic Modeling and Path-tracking of Differential Drive Wheeled-Mobile Robots
초록
In this paper are presented dynamic modeling and path-tracking of differential drive wheeled-mobile robots(WMRs) having the limited drive-torques. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to induce the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling method. 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.