PIC Vietnam - View Single Post

**john_den** · 24-05-2008, 01:37 AM

Các bác giúp em mấy bài này với! Thanks

http://ieeexplore.ieee.org/Xplore/lo...413.pdf?temp=x
Orientation control of a differential mobile robot through wheel synchronization
Dong Sun; Gang Feng; Chi Ming Lam; Haining Dong
Mechatronics, IEEE/ASME Transactions on
Volume 10, Issue 3, June 2005 Page(s):345 - 351
Digital Object Identifier 10.1109/TMECH.2005.848292
Summary:This paper presents the orientation control of a differential mobile robot through the synchronization of the motions of two driving wheels, using an adaptive coupling control algorithm. The orientation error is usually caused by the synchronization error between two driving wheels and has the largest impact on the motion accuracy. The proposed controller incorporates the cross-coupling technology into an adaptive control architecture and guarantees asymptotic convergence to zero of the position tracking errors of two wheels as well as the synchronization error between them. Experiments demonstrate that the proposed control method exhibits better motion performance than traditional control methods especially in the orientation control.
__________________________________________________ ______________________

http://ieeexplore.ieee.org/xpl/freea...rnumber=240407

Mobile robot kinematic, dynamic, and mobility
Khoukhi, A. Hamam, Y.
ESIEE Dept. Autom., Noisy-le-Grand;
This paper appears in: Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Publication Date: 19-22 Jun 1991
On page(s): 1111-1117 vol.2
Meeting Date: 06/19/1991 - 06/22/1991
Location: Pisa, Italy
ISBN: 0-7803-0078-5
References Cited: 14
INSPEC Accession Number: 4474223
Digital Object Identifier: 10.1109/ICAR.1991.240407
Posted online: 2002-08-06 17:57:30.0
__________________________________________________ ________________________

http://ieeexplore.ieee.org/Xplore/lo...rnumber=933162

Velocity kinematic modeling for wheeled mobile robots
Dong Hun Shin; Kyung Hoon Park
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Volume 4, Issue , 2001 Page(s): 3516 - 3522 vol.4
Digital Object Identifier 10.1109/ROBOT.2001.933162
Summary: Presents the velocity kinematic modeling of wheeled mobile robots (WMRs) by applying the matrix coordinate transformation to every pair of WMRs including wheeled pairs which were dealt with in ad-hoc manners in previous methodologies. A wheeled pair is not replaced with a planar pair and its kinematics is formulated together with those of lower pairs, even though there exists 2 DOF motion at a wheeled pair. The proposed method is implemented successfully to obtain the forward velocity kinematics of a WMR, and it is therefore regarded as a real counterpart to transformation methodologies widely used for kinematics of the robot manipulators.

24-05-2008, 01:37 AM	#9
john_den Đệ tử 1 túi Tham gia ngày: Jul 2006 Bài gửi: 12 :	Ieee Các bác giúp em mấy bài này với! Thanks http://ieeexplore.ieee.org/Xplore/lo...413.pdf?temp=x Orientation control of a differential mobile robot through wheel synchronization Dong Sun; Gang Feng; Chi Ming Lam; Haining Dong Mechatronics, IEEE/ASME Transactions on Volume 10, Issue 3, June 2005 Page(s):345 - 351 Digital Object Identifier 10.1109/TMECH.2005.848292 Summary:This paper presents the orientation control of a differential mobile robot through the synchronization of the motions of two driving wheels, using an adaptive coupling control algorithm. The orientation error is usually caused by the synchronization error between two driving wheels and has the largest impact on the motion accuracy. The proposed controller incorporates the cross-coupling technology into an adaptive control architecture and guarantees asymptotic convergence to zero of the position tracking errors of two wheels as well as the synchronization error between them. Experiments demonstrate that the proposed control method exhibits better motion performance than traditional control methods especially in the orientation control. __________________________________________________ ______________________ http://ieeexplore.ieee.org/xpl/freea...rnumber=240407 Mobile robot kinematic, dynamic, and mobility Khoukhi, A. Hamam, Y. ESIEE Dept. Autom., Noisy-le-Grand; This paper appears in: Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on Publication Date: 19-22 Jun 1991 On page(s): 1111-1117 vol.2 Meeting Date: 06/19/1991 - 06/22/1991 Location: Pisa, Italy ISBN: 0-7803-0078-5 References Cited: 14 INSPEC Accession Number: 4474223 Digital Object Identifier: 10.1109/ICAR.1991.240407 Posted online: 2002-08-06 17:57:30.0 __________________________________________________ ________________________ http://ieeexplore.ieee.org/Xplore/lo...rnumber=933162 Velocity kinematic modeling for wheeled mobile robots Dong Hun Shin; Kyung Hoon Park Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on Volume 4, Issue , 2001 Page(s): 3516 - 3522 vol.4 Digital Object Identifier 10.1109/ROBOT.2001.933162 Summary: Presents the velocity kinematic modeling of wheeled mobile robots (WMRs) by applying the matrix coordinate transformation to every pair of WMRs including wheeled pairs which were dealt with in ad-hoc manners in previous methodologies. A wheeled pair is not replaced with a planar pair and its kinematics is formulated together with those of lower pairs, even though there exists 2 DOF motion at a wheeled pair. The proposed method is implemented successfully to obtain the forward velocity kinematics of a WMR, and it is therefore regarded as a real counterpart to transformation methodologies widely used for kinematics of the robot manipulators.