Kinematic Analysis of an Omnidirectional Mobile Robot with MY Wheels

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Kinematic Analysis of an Omnidirectional Mobile Robot with MY Wheels
	Ye ZL(叶长龙); Li HY(李怀勇); Ma SG(马书根)
	2011
会议名称	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
会议日期	December 7-11, 2011
会议地点	Phuket, Thailand
关键词	Biomimetics Errors Kinematics Mobile robots Motion control Robotics Vehicles
页码	1748-1753
中文摘要	In this paper, the kinematic model of an omnidirectional mobile robot with special MY wheels is built to analyze its kinematics performance on vibration, control and errors that are caused by the specific structural feature of MY wheels. Trajectory errors, which are induced by vibration in the motion, are reduced distinctly by the proposed control method of both optimized contact distance and improved rotational speed of MY wheel. It can improve the stability of movement for the robot by employing sinusoidal control law to control the angular velocity of MY wheel reasonably. Simulation results are provided to demonstrate the performance of proposed approaches.
收录类别	EI
产权排序	1
会议主办者	IEEE Robotics and Automation Society
会议录	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
会议录出版者	IEEE
会议录出版地	New York, USA
语种	英语
ISBN号	978-1-4577-2138-0
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/10206]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Ye ZL,Li HY,Ma SG. Kinematic Analysis of an Omnidirectional Mobile Robot with MY Wheels[C]. 见:2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. Phuket, Thailand. December 7-11, 2011.