TAILIEUCHUNG - Advances in Robot Manipulators Part 9

Tham khảo tài liệu 'advances in robot manipulators part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 312 Advances in Robot Manipulators 0 10 20 30 40 50 60 t Fig. 4. Evolution of the applied torque for the Computed-Torque strategy. Fig. 5. Evolution of the position errors. 313 Dynamic Trajectory-Tracking Control of an Omnidirectional Mobile Robot Based on a Passive Approach Fig. 6. Velocity errors. 5. Conclusions The trajectory-tracking problem for the omnidirectional mobile robot considering its dynamic model has been addressed and solved by means of a full state information time varying feedback based on a methodology that exploits the passivity properties of the exact tracking error dynamics. The asymptotic stability of the closed loop system is formally proved. Numerical simulations are proposed to illustrate the properties of the closed-loop system showing a better performance than the control obtained by the well known Computed-Torque approach. 6. Acknowledgment This work was partially supported by CONACyT Mexico under Grants 61713 and 82741. 7. References Bétourné A. Campion G. 1996 Dynamic Modelling and Control Design of a Class of Omnidirectional Mobile Robots. Proceedings of the 1996 IEEE Int. Conference on Robotics and Automation pp. 2810-2815 Minneapolis USA. Campion G. Bastin G. D Andréa-Novel B. 1996 Structural Properties and Clasification of Kinematics and Dynamics Models of Wheeled Mobile Robots. IEEE Transactions on Robotics and Automation Vol. 12 No. 1 pp. .

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