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ICRA
1993
IEEE

Multi-Layered Control of a Four-Degree-of-Freedom Mobile Robot with Compliant Linkage

10 years 8 months ago
Multi-Layered Control of a Four-Degree-of-Freedom Mobile Robot with Compliant Linkage
This paper introduces a new approach to the design and control of a four-degree-of-freedom (4DOF) vehicle. This vehicle can travel sideways and it can negotiate tight turns easily. Existing 4DOF vehicles have been found difficult to control 2. The compliant linkage because of their overcon-strained nature. These difficulties As explained above, the key element in any workable MDOF translate into severe wheel slippage or jerky motion under design must be the provision of mechanical compliance certain driving conditions. [Borenstein, 1992]. One possible kinematic design for an MDOF
Johann Borenstein
Added 08 Aug 2010
Updated 08 Aug 2010
Type Conference
Year 1993
Where ICRA
Authors Johann Borenstein
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