Dynamics model and feedback control of tracked robots | |
Li Yan ; Yang Xiangdong ; Chen Hen | |
2010-05-10 ; 2010-05-10 | |
关键词 | Practical Theoretical or Mathematical/ control system synthesis feedback linearisation techniques mobile robots robot dynamics/ pedrail mobile robot tracked robot force characteristics steady path tracing controller design feedback linearization tracked robot feedback control/ C3390C Mobile robots C1310 Control system analysis and synthesis methods E1550A Robotics E2230 Robot and manipulator mechanics |
中文摘要 | The pedrail has been widely applied to the design of the mobile robot. To improve the accuracy of its feedback control model, this article analyzes the force characteristics of the tracked robot, and proposes a kind of tracked robot model that is suitable for the design of the controller. On the basis of this model, a method of designing a steady path tracing controller for tracked robot is proposed according to the idea of feedback linearization, and meanwhile the conditions to avoid singularities is indicated also. The control model and the path tracing method proposed provide the theory basis for the design of the tracked robot control system. |
语种 | 中文 ; 中文 |
出版者 | Tsinghua Univ. Press ; China |
内容类型 | 期刊论文 |
源URL | [http://hdl.handle.net/123456789/25268] ![]() |
专题 | 清华大学 |
推荐引用方式 GB/T 7714 | Li Yan,Yang Xiangdong,Chen Hen. Dynamics model and feedback control of tracked robots[J],2010, 2010. |
APA | Li Yan,Yang Xiangdong,&Chen Hen.(2010).Dynamics model and feedback control of tracked robots.. |
MLA | Li Yan,et al."Dynamics model and feedback control of tracked robots".(2010). |
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