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Resolved Motion Rate and Resolved Acceleration Servo-Control of Wheeled Mobile Robots
P. Muir and C.P. Neuman
Proceedings of the 1990 IEEE International Conference on Robotics and Automation, Vol. 2, May, 1990, pp. 1133-1140.

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Abstract

The authors apply two Cartesian-space manipulator control algorithms, resolved motion rate (kinematics-based) and resolved acceleration (dynamics-based) control, to wheeled mobile robot (WMR) servo control. They evaluate simulation studies of two exemplary WMRs-Uranus, a three-degree-of-freedom WMR, and Bicsun-Bicas, a two-degree-of-freedom WMR-under the control of these algorithms. Although resolved-motion-rate servo control is adequate for the control of Uranus, resolved-acceleration servo control is required for the control of the mechanically simpler Bicsun-Bicas because it exhibits more dynamic coupling and nonlinearities.

Text Reference

P. Muir and C.P. Neuman, "Resolved Motion Rate and Resolved Acceleration Servo-Control of Wheeled Mobile Robots," Proceedings of the 1990 IEEE International Conference on Robotics and Automation, Vol. 2, May, 1990, pp. 1133-1140.

BibTeX Reference

@inproceedings{Muir_1990_1103,
   author = "Patrick Muir and C.P. Neuman",
   title = "Resolved Motion Rate and Resolved Acceleration Servo-Control of Wheeled Mobile Robots",
   booktitle = "Proceedings of the 1990 IEEE International Conference on Robotics and Automation",
   month = "May",
   year = "1990",
   volume = "2",
   pages = "1133-1140"
}