Disturbance analysis and control for an omnidirectional wheeled mobile robot

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

	Disturbance analysis and control for an omnidirectional wheeled mobile robot
	Song YX(宋亦旭); Tan DL(谈大龙); Miao, Meng
	2009
会议名称	2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
会议日期	August 9-12, 2009
会议地点	Changchun, China
关键词	Kinematics Machine design Mechatronics Mobile robots Sensors Wheels
页码	3241-3245
中文摘要	The mobile robot with an orthogonal-wheel assembly has omnidirectional motion ability and simple kinematic model for controller design. However, two sliced spheres that switch upon movement are likely to cause disturbances that act on the wheeled motor robot (WMR)'s body. The purpose of the traditional control for a WMR is high joint control stiffness using odometry, which might worsen the trajectory tracking performance of the WMR with orthogonalwheel assemblies. This is because the robot's vibration might cause wheel slippage. Thus, the real-time motion states of the WMR body must be obtained to enable the robot controller to suppress such vibration. This paper provides a method with which to estimate the velocities of the WMR using inner sensors. In our proposed method, the real-time velocities of the WMR are estimated using accelerometers and position-measurement sensors. The fused signal is fed into the WMR controller instead of into the odometry feedback signal. The experimental results demonstrate that the proposed method is effective.
收录类别	EI
产权排序	2
会议主办者	IEEE Robotics and Automation Society; Changchun University of Science and Technology; Kagawa University
会议录	2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009
会议录出版者	IEEE Computer Society
会议录出版地	Piscataway, USA
语种	英语
ISBN号	978-1-4244-2693-5
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/10435]
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	Song YX,Tan DL,Miao, Meng. Disturbance analysis and control for an omnidirectional wheeled mobile robot[C]. 见:2009 IEEE International Conference on Mechatronics and Automation, ICMA 2009. Changchun, China. August 9-12, 2009.