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Modeling and Path-Tracking of Wheeled-Mobile Robots having the Limited Drive-Torques  

김종수 (상지대학교 컴퓨터정보공학부)
문종우 (부산정보대학 디지털자동화정보계열)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers D / v.52, no.8, 2003 , pp. 482-491 More about this Journal
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
kinematic and dynamic modeing; force/torque propagation; Newton′s equilibrium; time-scaling; WMRs;
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