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
收藏
页码:73 / 79
页数:7
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