{"title":"偏心可定向轮对移动机器人运动特性的影响","authors":"R. Beniak, T. Pyka","doi":"10.1109/MMAR.2018.8485959","DOIUrl":null,"url":null,"abstract":"This paper discusses a comprehensive model of a mobile robot with a no-slip self-adjusting off-centered orientable wheel. Subsequently, by application of dynamic control, a comparison is made between two robot models: one accounting for the effect of the off-centered orientable wheel and another one excluding this effect. The aspects considered in the study include not only the error resulting from the drive along a given trajectory but also the consumption of energy of the compared models.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"The Effect of an Off-Centered Orientable Wheel on Motion Characteristics of a Mobile Robot\",\"authors\":\"R. Beniak, T. Pyka\",\"doi\":\"10.1109/MMAR.2018.8485959\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper discusses a comprehensive model of a mobile robot with a no-slip self-adjusting off-centered orientable wheel. Subsequently, by application of dynamic control, a comparison is made between two robot models: one accounting for the effect of the off-centered orientable wheel and another one excluding this effect. The aspects considered in the study include not only the error resulting from the drive along a given trajectory but also the consumption of energy of the compared models.\",\"PeriodicalId\":201658,\"journal\":{\"name\":\"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)\",\"volume\":\"28 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-08-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/MMAR.2018.8485959\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MMAR.2018.8485959","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The Effect of an Off-Centered Orientable Wheel on Motion Characteristics of a Mobile Robot
This paper discusses a comprehensive model of a mobile robot with a no-slip self-adjusting off-centered orientable wheel. Subsequently, by application of dynamic control, a comparison is made between two robot models: one accounting for the effect of the off-centered orientable wheel and another one excluding this effect. The aspects considered in the study include not only the error resulting from the drive along a given trajectory but also the consumption of energy of the compared models.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
