Static Force Analysis of an Omnidirectional Mobile Robot with Wheels Connected by Passive Sliding Joints

Terakawa, Tatsuro; Komori, Masaharu

doi:10.1007/978-3-030-58380-4_42

Cited by 1 publication

(1 citation statement)

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“…Therefore, it is meaningful to study the trajectory tracking control of wheeled mobile robots under sliding. For wheeled mobile robots in practical applications, wheels often slip, which has been reported in many articles [ 33 , 34 ]. Therefore, an active disturbance rejection tracking control strategy is designed to solve this problem.…”

Section: Methodsmentioning

confidence: 99%

Kinematic and dynamic control model of wheeled mobile robot under internet of things and neural network

Liu

Cong

2022

J Supercomput

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This study aims to solve the issues of nonlinearity, non-integrity constraints, under-actuated systems in mobile robots. The wheeled robot is selected as the research object, and a kinematic and dynamic control model based on Internet of Things (IoT) and neural network is proposed. With the help of IoT sensors, the proposed model can realize effective control of the mobile robot under the premise of ensuring safety using the model tracking scheme and the radial basis function adaptive control algorithm. The results show that the robot can be controlled effectively to break the speed and acceleration constraints using the strategy based on the model predictive control, thus realizing smooth movement under the premise of safety. The self-adapting algorithm based on the IoT and neural network shows notable advantages in parameter uncertainty and roller skidding well. The proposed model algorithm shows a fast convergence rate of about 2 s, which has effectively improved performances in trajectory tracking and robustness of the wheeled mobile robot, and can solve the difficulties of wheeled mobile robots in practical applications, showing reliable reference value for algorithm research in this field.

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Section: Methodsmentioning

confidence: 99%