Motion Control Analysis of a Mobile Robot
نویسنده
چکیده
A computer-controlled vehicle that is part of a mobile nursing robot system is described. The vehicle applies a motion control strategy that attempts to avoid slippage and minimize position errors. A cross-coupling control algorithm that guarantees a zero steady-state orientation error (assuming no slippage) is proposed and a stability analysis of the control system is presented. Results of experiments performed on a prototype vehicle verify the theoretical analysis. + Graduate Student Professor, Member ASME ++ Faculty of Mechanical Engineering Technion, Israel Institute of Technology Haifa, Israel Submitted to the ASME in May 1985; revised May 1986 and November 1986
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