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Smooth control of an articulated mobile robot with switching constraints
https://uec.repo.nii.ac.jp/records/9285
https://uec.repo.nii.ac.jp/records/9285d663c2ef-86bd-4818-981c-217033bdcb2a
名前 / ファイル | ライセンス | アクション |
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2016_AR (7.2 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2019-07-23 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Smooth control of an articulated mobile robot with switching constraints | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
言語 | en | |||||
主題 | articulated mobile robot | |||||
キーワード | ||||||
言語 | en | |||||
主題 | switching constraints | |||||
キーワード | ||||||
言語 | en | |||||
主題 | kinematic redundancy | |||||
キーワード | ||||||
言語 | en | |||||
主題 | trajectory tracking | |||||
キーワード | ||||||
言語 | en | |||||
主題 | snake robot | |||||
キーワード | ||||||
言語 | en | |||||
主題 | switched system | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
資源タイプ | journal article | |||||
著者 |
Tanaka, Motoyasu
× Tanaka, Motoyasu× Nakajima, Mizuki× Tanaka, Kazuo |
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抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | The paper describes a smooth controller of an articulated mobile robot with switching constraints. The use of switching constraints associated with grounded/lifted wheels is an effective method of controlling various motions; e.g. the avoidance of a moving obstacle. A model of an articulated mobile robot that has active and passive wheels and active joints with switching constraints is derived. A controller that accomplishes the trajectory tracking of the robot’s head and subtasks using smooth joint input is proposed on the basis of the model. Simulations and experiments are presented to show the effectiveness of the proposed controller. | |||||
書誌情報 |
en : Advanced Robotics 巻 30, 号 1, p. 29-40, 発行日 2016-01-15 |
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出版者 | ||||||
出版者 | Taylor & Francis | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 0169-1864 | |||||
DOI | ||||||
関連タイプ | isVersionOf | |||||
識別子タイプ | DOI | |||||
関連識別子 | 10.1080/01691864.2015.1102646 | |||||
権利 | ||||||
権利情報 | This is an Accepted Manuscript of an article published by Taylor & Francis Group in Advanced Robotics on 15/01/2016, available online: http://www.tandfonline.com/10.1080/01691864.2015.1102646. | |||||
関連サイト | ||||||
識別子タイプ | DOI | |||||
関連識別子 | https://doi.org/10.1080/01691864.2015.1102646 | |||||
著者版フラグ | ||||||
出版タイプ | AM | |||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa |