Abstract
A new method of motion synthesis for wheeled mobile robots is presented. Dynamics model describing the slip phenomenon taking into account the wheel-ground interaction is derived. The pattern of wheel motion control reducing the slip is proposed. The presented results were obtained in the frame of PROTEUS project devoted to the autonomous robots for inspection and exploration.
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© 2010 CISM, Udine
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Zielinska, T., Chmielniak, A. (2010). Control Law Synthesis for Slip Reduction of Wheeled Robot. In: Parenti Castelli, V., Schiehlen, W. (eds) ROMANSY 18 Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 524. Springer, Vienna. https://doi.org/10.1007/978-3-7091-0277-0_40
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DOI: https://doi.org/10.1007/978-3-7091-0277-0_40
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-0276-3
Online ISBN: 978-3-7091-0277-0
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