Virtual Force Concept in Steering Mobile Manipulators with Skid-Steering Platform Moving in Unknown Environment
نویسندگان
چکیده
منابع مشابه
Modeling, experimenting, and improving skid steering on a 6 × 6 all-terrain mobile platform
Multiple-wheel all-terrain vehicles without a steering system must use great amounts of power when skid steering. Skid steering is modeled with emphasis put on the ground contact forces of the wheels according to the mass distribution of the vehicle. To increase steering efficiency, it is possible to modify the distribution of the normal contact forces on the wheels. This paper focuses on two a...
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The paper presents analytical and practical studies concerning the control problems of a group of Wheeled Mobile Robots (WMRs) subject to physical constraints. Firstly, controllers for achieving trajectory tracking for kinematic unicycle-like and skidsteering mobile robots with restricted control inputs are established. Next, the underlying tracking controllers are applied for group control und...
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In this paper authors consider the problem of practical stabilization of wheeled mobile robot equipped with skid-steering drive (also know as SSMR). The kinematic model of SSMR is approximated by kinematics of unicycle including small perturbation term which describes limited skidding effect. It is justified that SSMR can be regarded as a system with non-stationary first order nonholonomic cons...
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Differentially driven skid-steering vehicles are often considered for navigation in outdoor terrains. However, the control of such vehicles is challenging because the wheels must skid laterally to follow a curved path, and motion stability can be lost as a result of excess skidding due to the position of the instantaneous center of rotation (ICR). To accommodate for the potential loss of stabil...
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ژورنال
عنوان ژورنال: Journal of Intelligent & Robotic Systems
سال: 2013
ISSN: 0921-0296,1573-0409
DOI: 10.1007/s10846-013-9878-7