Resolved motion rate and resolved acceleration servocontrol of wheeled mobile robots

The authors apply two Cartesian-space manipulator control algorithms, resolved motion rate (kinematics-based) and resolved acceleration (dynamics-based) control, to wheeled mobile robot (WMR) servo control. They evaluate simulation studies of two exemplary WMRs-Uranus, a three-degree-of-freedom WMR, and Bicsun-Bicas, a two-degree-of-freedom WMR-under the control of these algorithms. Although resolved-motion-rate servo control is adequate for the control of Uranus, resolved-acceleration servo control is required for the control of the mechanically simpler Bicsun-Bicas because it exhibits more dynamic coupling and nonlinearities.<>