Control of a Spherical Robot: Path Following Based on Nonholonomic Kinematics and Dynamics |
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Authors: | ZHENG Minghuia b ZHAN Qianga LIU Jinkunb CAI Yaoa aRobotics Institute Beihang University Beijing China |
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Institution: | ZHENG Minghuia,b,ZHAN Qianga,LIU Jinkunb,CAI Yaoa aRobotics Institute,Beihang University,Beijing 100191,China |
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Abstract: | This paper presents the controller design for the path following of a spherical mobile robot,BHQ-1.Firstly,a desired velocity for the reference path is deduced from the kinematic model,which cannot be transformed into the classic chained form.Secondly,a necessary torque for the desired velocity is obtained based on the dynamic model.As to the kinematics,a one-dimensional function is selected to measure the two-directional tracking error,and the velocity of rolling forward is reasonably assumed to be constan... |
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Keywords: | spherical robot path following nonholonomic kinematics dynamics |
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