带防滑脚轮的移动机器人

2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR) Pub Date : 2017-08-01 DOI:10.1109/MMAR.2017.8046824

R. Beniak, T. Pyka

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引用次数: 4

摘要

本文研究了在平面上运动的三轮移动机器人的控制系统中防滑脚轮的影响问题。推导了在有和无脚轮冲击的情况下，脚轮扭转角与驱动速度之间的关系，给出了控制器的仿真结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Mobile robot with non-slip castor wheel

In this paper we address a problem of a non-slip castor wheel's impact on the control system of a tri-wheel mobile robot, which moves on a flat surface. We derive relations between the castor wheel's torsion angle and drive velocities and show results of controller's simulation, with and without the impact of the castor wheel.

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来源期刊

2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)

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