MOTION CONTROL ANALYSIS OF A MOBILE ROBOT

被引：52

作者：

BORENSTEIN, J ^{[1
]}

KOREN, Y ^{[1
]}

机构：

[1] UNIV MICHIGAN, DEPT MECH ENGN & APPL MECH, ANN ARBOR, MI 48109 USA

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1987年 / 109卷 / 02期

关键词：

KINEMATICS - MATHEMATICAL TECHNIQUES - Algorithms;

D O I：

10.1115/1.3143840

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A computer-controlled vehicle that is part of a mobile nursing robot system is described. The vehicle applies a motion control strategy that attempts to avoid slippage and minimize position errors. A cross-coupling control algorithm that guarantees a zero steady-state orientation error (assuming no slippage) is proposed and a stability analysis of the control system is presented. Results of experiments performed on a prototype vehicle verify the theoretical analysis.

引用

页码：73 / 79

页数：7

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