Dynamic Modeling with Nonsqueezing Load Distribution for Omnidirectional Mobile Robots with Powered Caster Wheels

被引：0
|
作者：
Jia, Wenji [1 ,2 ]
Yang, Guilin [2 ]
Zhang, Chi [2 ]
Chen, Guodong [3 ,4 ]
机构：
[1] Univ Chinese Acad Sci, 19 A Yuquan Rd, Beijing 100049, Peoples R China
[2] Chinese Acad Sci, Zhejiang Key Lab Robot & Intelligent Mfg Equipmen, Ningbo Inst Mat Technol & Engn, Ningbo 315201, Zhejiang, Peoples R China
[3] Soochow Univ, Jiangsu Prov Key Lab Adv Robot, Suzhou 215123, Peoples R China
[4] Soochow Univ, Collaborat Innovat Ctr Suzhou Nano Sci & Technol, Suzhou 215123, Peoples R China
来源：
PROCEEDINGS OF THE 2018 13TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2018) | 2018年
关键词：
omnidirectional mobile robot; load distribution; dynamic model;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper presents a novel dynamic modelling approach for omnidirectional mobile robots with Powered Caster Wheels (PCWs). With the conventional dynamic model, the internal forces induced by the redundant PCWs cannot be computed and controlled, which will significantly reduce the driving efficiency and result in unstable robot motions. To eliminate the internal forces, a general nonsqueezing load distribution model is proposed and integrated with the dynamic model of the mobile robot. By this new dynamic model, the driving force applied by each PCW is distributed as evenly as possible without inducing any internal forces. To illustrate the proposed dynamic modeling method, a computation example is provided.
引用
收藏
页码：2327 / 2332
页数：6
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