In this paper, a PID controller is designed to solve position and orientation tracking control of a robot for a heavy-water nuclear reactor when the robot keeps track of a circular reference trajectory to show mobility for small turning radius. The four-wheel-drive robot is designed to have two omni-directional rear wheels for mobility and the tool center is located just above of the geometric center of the mobile base for stability. The complex nonlinear system dynamics of the omni-directional wheel-type rob…
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