By Topic

Research on motion control of omnidirectional platform based on virtual prototyping

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Yunan Zhang ; Academy of Armored Force Engineering, Beijing 100072, China ; Shuangshuang Wang ; Jian Zhang ; Jie Song

Aiming at the anisotropy of omnidirectional motion, firstly, the kinematic model is analysed in this paper, then dynamic model based on Lagrange dynamics and virtual prototyping model made by dynamic software RecurDyn are built respectively. The influence of wheels' slippage toward direction of translation and maximal velocity is simualted and analysed on the same ground, we derives the anisotropy of slip ratio. The feedback loop of position and orientation is used to follow desired path, which settles the basis of further research on motion control.

Published in:

Control Conference (CCC), 2011 30th Chinese

Date of Conference:

22-24 July 2011