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Author Hwan-Joo Kwak ♦ Gwi-Tae Park
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2011
Language English
Subject Domain (in DDC) Natural sciences & mathematics ♦ Physics ♦ Electricity & electronics
Subject Keyword Mobile robots ♦ PD control ♦ Trajectory ♦ Kinematics ♦ Adaptation model ♦ Gravity
Abstract The previous researches for mobile robots are based on the model of mobile robot with invariant weight parameters. However, the most practical mobile robots that bring heavy burden have variant weight parameters: robot's weight and center of gravity. This paper suggests the design of adaptive PD controller, which estimates and adapts the weight parameters of the robots, for a home service mobile robot that brings varying heavy burden. Using the suggested adaptive PD controller, the motion of mobile robots can be independent of the weight parameters, and the operational performance is confirmed by the simulations of target tracking.
Description Author affiliation: Korea University, Korea (Hwan-Joo Kwak; Gwi-Tae Park)
ISBN 9781424487110
ISSN 21584001
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2011-01-09
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781424487127
Size (in Bytes) 137.45 kB
Page Count 2
Starting Page 779
Ending Page 780


Source: IEEE Xplore Digital Library