On the motion of a mobile robot with roller-carrying wheels

被引:0
作者
Yu. G. Martynenko
A. M. Formal’skii
机构
[1] Moscow State University,Institute of Mechanics
来源
Journal of Computer and Systems Sciences International | 2007年 / 46卷
关键词
Torque; Mobile Robot; Electric Motor; System Science International; Robot Motion;
D O I
暂无
中图分类号
学科分类号
摘要
The motion equations of a robot on a horizontal surface on three roller-carrying wheels of omni directional type are derived without account of possible slippage. An exact solution of the equations is found when at the direct-current motors moving the wheels a constant voltage is supplied. The problem of minimizing the torques of electric motors is considered and steady-state motion modes are specified for which the torques of electric motors and energy expenses are minimum. The reckoning system for the robot traveled distance is described.
引用
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页码:976 / 983
页数:7
相关论文
共 5 条
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  • [2] Shiraishi Y.(2004)Design and Development of a Comprehensive Omni Directional Soccer Player Robot Int. J. Advanced Robotic Syst. 1 191-2000
  • [3] Tzafestas S. G.(undefined)undefined undefined undefined undefined-undefined
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