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A rapid mobile robot synthesis

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5 Author(s)
Ruaux, R. ; Lab. de Robotique de Paris, Centre Univ. Technol., Velizy-Vilacoublay, France ; Bourdon, G. ; Delaplace, S. ; Pons, N.
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In this paper, we design a new mobile robot in order to study the dynamic phenomena with a fast robot. This plate-form has a classical locomotion structure, two front free wheels and two rear driving wheels. We present a new multilayers architecture to decentralize the computation. We adopt a CAN protocol communication to connect the different layers. Dedicated cards have been developed for low level control. After this realizations, we establish the constraint equations and dynamic model. We determinate a control law to perform trajectory tracking with the input output feedback linearization method. Simulations are presented to show the availability of our approach

Published in:

Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on  (Volume:5 )

Date of Conference:

22-25 Oct 1995

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