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Controllability of a multibody mobile robot

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1 Author(s)
J. -P. Laumond ; LAAS/CNRS, Toulouse, France

Presents a proof of controllability for multibody mobile robots. An instance of such systems correspond to a car pulling and pushing trailers, like a luggage carrier in an airport. Three modeling levels are built: geometrical, differential and control models respectively. The authors shows that four different control systems correspond to a same differential model. The differential model is then used to give a same proof of controllability for four distinct multibody mobile robot systems.<>

Published in:

Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on

Date of Conference:

19-22 June 1991