Abstract
A modelling approach of the motion dynamics of a four-wheel electric robot is proposed. The mechanism analysis method is employed to establish a mathematical model for a robot.With experimental data of various scenarios for the step responses of the system, the parameters of the model are identified. Simulation shows the feasibility and reliability of the motion modelling approach.
This paper is partially supported by“the Fundamental Research Funds for the Central Universities.”
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Ichihara, Y., Ohnishi, K.: Path planning and tracking control of wheeled mobile robot considering robot’s capacity. In: Proceedings of the IEEE International Conference on Industrial Technology, Mumbai, India, pp. 176–181 (2006)
Dincmen, E., Acarman, T.: Application of vehicle dynamics’ active control to a realistic vehicle model. In: American Control Conference, New York, pp. 200–205 (2007)
You, F., Wang, R., Zhang, R.: Study of system identification and control algorithm for intelligent vehicle. China Journal of Highway and Transport 21(4), 111–116 (2008)
Silva, L., Magallan, G., Angelo, C.D., Garcia, G.: Vehicle dynamics using multi-bond graphs: Four wheel electric vehicle modeling. In: IECON 2008 - 34th Annual Conference of IEEE Industrial Electronics, Orlando, Florida, pp. 2846–2851 (2008)
Yu, Z.: Automobile theory, pp. 2–21. Machinery Industry Press, Beijing (2006)
Wang, F.: The mathematics model of the motion velocity of army vehicle. Journal of Institute of Surveying and Mapping (1), 66–70 (1993)
Gu, C., Chen, Q., Xiong, Y.: Electrical Machines, 2nd edn., pp. 82–94. Huazhong University of Science and Technology Press, Wuhan (2005)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Wang, X., Zhuan, X., Zheng, G., Chen, Z. (2010). Motion Dynamics Modelling of an Electric Wheel Robot. In: Liu, H., Ding, H., Xiong, Z., Zhu, X. (eds) Intelligent Robotics and Applications. ICIRA 2010. Lecture Notes in Computer Science(), vol 6424. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16584-9_15
Download citation
DOI: https://doi.org/10.1007/978-3-642-16584-9_15
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-16583-2
Online ISBN: 978-3-642-16584-9
eBook Packages: Computer ScienceComputer Science (R0)