The Transactions of the Korean Institute of Electrical Engineers D (대한전기학회논문지:시스템및제어부문D)

The Korean Institute of Electrical Engineers (대한전기학회)
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Modeling and Path-Tracking of Wheeled-Mobile Robots having the Limited Drive-Torques

구동토크의 제약을 갖는 구륜이동로봇의 모델링과 경로추적

  • 김종수 (상지대학교 컴퓨터정보공학부) ;
  • 문종우 (부산정보대학 디지털자동화정보계열)
  • Published : 2003.08.01
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Abstract

In this paper are presented kinematic and dynamic modeling and path-tracking of four-wheeled mobile robots with 2 d.o.f haying the limited drive-torques. Controllability of wheeled-mobile robots is revealed by the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to drive 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. 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.

Keywords

References

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