KINEMATICAL CONTROL FUNCTIONS FOR A MOBILE ROBOT

Zoltan SZOKE, Iuliu NEGREAN, Claudiu SCHONSTEIN, Kalman KACSO

Abstract


The mobile robotic field has greatly expanded in the recent years and currently has applications in the most areas of activity. The main objective of robots, in order to achieve a task is to describe motion trajectories, based on control functions, which are consisting in displacements from a point, to a programmed position. Within the paper, will be presented mathematical considerations about a mobile structure, proposed for implementation, for which, will be determined the equations of direct kinematic model.


Full Text:

Untitled

References


Negrean, I., Schonstein C., Kacso, K., Negrean, D., Formulations about Dynamics of Mobile Robots, Proceedings of 2010 International Conference on Robotics, Cluj-Napoca, Romania, 2010.

Negrean, I., Forgo, Z., Inverse Modeling of the Dynamic Errors of Robots, INES'98, IEEE International Conference on Intelligent Engineering Systems, Proceedings, Vienna, Austria, September 1998.

Negrean, I., Mecanică Avansată în Robotică, Ed. UT PRESS, ISBN 978-973-662-420-9. Cluj-Napoca, 2008.

Negrean, I., Schonstein C., Kacso, K., Negrean, D., Formulations about Dynamics of Mobile Robots, Proceedings of 2010 International Conference on Robotics, Cluj-Napoca, Romania, 2010.

V., Rumyantsev, “Forms of Hamiltons’s Principle for nonholonomic systems”, Mechanics, Automatic Control and Robotics, Vol. 2, No.10, 2000.


Refbacks

  • There are currently no refbacks.


JOURNAL INDEXED IN :