ANALYSIS AND CONTROL OF A 3-DEGREE-OF-FREEDOM ROBOT PLATFORM

作     者：JANSEN, JF KRESS, RL 

作者机构：Instrumentation & Controls Division Oak Ridge National Laboratory Oak Ridge Tennessee 37831-6005 USA 

出 版 物：《JOURNAL OF MECHANICAL WORKING TECHNOLOGY》 (J Mech Work Technol)

年 卷 期：1989年第20卷第C期

页      面：295-304页

核心收录：

主　　题：Robots, Industrial 

摘      要：This paper describes the analysis and design of a robot platform with two drive wheels, each with an independent steering mechanism resulting in three independent degrees of motion. The kinematic and inverse kinematic analyses are derived in detail. An adaptive controller is designed to compensate for large inertial variations and to satisfy the velocity (nonholonomic) constraints.