Research on Motion Control of Omnidirectional Platform Based on Virtual Prototyping

被引：0

作者：

Zhang Yunan ^{[1
]}

Wang Shuangshuang ^{[1
]}

Zhang Jian ^{[1
]}

Song Jie

机构：

[1] Acad Armored Force Engn, Beijing 100072, Peoples R China

来源：

2011 30TH CHINESE CONTROL CONFERENCE (CCC) | 2011年

关键词：

Virtual Prototyping; Omnidirectional; Motion Control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Aiming at the anisotropy of omnidirectional motion, firstly, the kinematic model is analysed in this paper, then dynamic model based on Lagrange dynamics and virtual prototyping model made by dynamic software RecurDyn are built respectively. The influence of wheels' slippage toward direction of translation and maximal velocity is simualted and analysed on the same ground, we derives the anisotropy of slip ratio. The feedback loop of position and orientation is used to follow desired path, which settles the basis of further research on motion control.

引用

页码：3439 / 3443

页数：5

共 3 条

[1]

DICKERSON SL, 1991, NTC 91 : NATIONAL TELESYSTEMS CONFERENCE PROCEEDINGS, VOL 1, P323, DOI 10.1109/NTC.1991.148039

[2] Position rectification control for mecanum wheeled omni-directional vehicles [J].

Viboonchaicheep, P ;

Shimada, A ;

Kosaka, Y .

IECON'03: THE 29TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOLS 1 - 3, PROCEEDINGS, 2003, :854-859

[3]

Zhang Yunan, 2010, Proceedings 2010 International Conference on Digital Manufacturing and Automation (ICDMA 2010), P237, DOI 10.1109/ICDMA.2010.57

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