OTHER
Omni-directional mobile robot controller design by trajectory linearization
Yong Liu, Xiaofei Wu, Jiangcheng Zhu, J.Y. Lew
- 发表年份
- 2004
- 引用次数
- 103
摘要
In this paper, modeling and nonlinear controller design for an omnidirectional mobile robot are presented. Based on the robot dynamics model, a nonlinear controller is designed using the trajectory linearization control (TLC) method. Some simulation results of the controller are presented.
关键词
Mobile robotTrajectoryLinearizationControl theory (sociology)Computer scienceRobotController (irrigation)Feedback linearizationControl engineeringRobot kinematics
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