Buchumschlag

Solving the singularity problem for a holonomic mobile robot

A holonomic mobile robot with three castor wheels is presented. For each wheel, only the angular velocity is actuated. Due to the actuation characteristics, the actuated inverse solution yields singularities for some common wheel configurations. In this paper two approaches are proposed for solving...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: Shenawy, Ahmed el- (VerfasserIn) , Wagner, Achim (VerfasserIn) , Badreddin, Essameddin (VerfasserIn)
Dokumenttyp: Article (Journal) Konferenzschrift
Sprache:Englisch
Veröffentlicht: 23 April 2016
In: IFAC Proceedings Volumes
Year: 2006, Jahrgang: 39, Heft: 16, Pages: 151-156
ISSN:1474-6670
DOI:10.3182/20060912-3-DE-2911.00029
Online-Zugang:Verlag, Volltext: https://doi.org/10.3182/20060912-3-DE-2911.00029
Verlag: http://www.sciencedirect.com/science/article/pii/S1474667015341574
Volltext
Verfasserangaben:A. EL-Shenawy, A. Wagner and E. Badreddin

MARC

LEADER 00000caa a2200000 c 4500
001 1685369219
003 DE-627
005 20220817182128.0
007 cr uuu---uuuuu
008 191212r20162006xx |||||o 00| ||eng c
024 7 |a 10.3182/20060912-3-DE-2911.00029  |2 doi 
035 |a (DE-627)1685369219 
035 |a (DE-599)KXP1685369219 
035 |a (OCoLC)1341281539 
040 |a DE-627  |b ger  |c DE-627  |e rda 
041 |a eng 
084 |a 28  |2 sdnb 
100 1 |a Shenawy, Ahmed el-  |e VerfasserIn  |0 (DE-588)141199040  |0 (DE-627)703908936  |0 (DE-576)322678919  |4 aut 
245 1 0 |a Solving the singularity problem for a holonomic mobile robot  |c A. EL-Shenawy, A. Wagner and E. Badreddin 
264 1 |c 23 April 2016 
300 |a 7 
336 |a Text  |b txt  |2 rdacontent 
337 |a Computermedien  |b c  |2 rdamedia 
338 |a Online-Ressource  |b cr  |2 rdacarrier 
500 |a Elektronische Reproduktion der Druckausgabe 
500 |a Gesehen am 12.12.2019 
520 |a A holonomic mobile robot with three castor wheels is presented. For each wheel, only the angular velocity is actuated. Due to the actuation characteristics, the actuated inverse solution yields singularities for some common wheel configurations. In this paper two approaches are proposed for solving this singularity problem: 1. The coupling approach is a virtual actuation for the steering angle velocity through controlling the actuated angular velocities of the other wheels. 2. The escaping singularity approach is an external function cascaded to the reference input signal in the control loop. Simulations and practical experiments are carried out to illustrate the performance of the proposed approaches. 
534 |c 2006 
650 4 |a Kinematics 
650 4 |a Mobile robots 
650 4 |a Model analysis 
650 4 |a Motion 
650 4 |a Singularities 
700 1 |a Wagner, Achim  |e VerfasserIn  |0 (DE-588)1180539672  |0 (DE-627)1067775897  |0 (DE-576)520275624  |4 aut 
700 1 |a Badreddin, Essameddin  |e VerfasserIn  |0 (DE-588)1136732853  |0 (DE-627)893510246  |0 (DE-576)490797644  |4 aut 
773 0 8 |i Enthalten in  |a Internationale Förderung für Automatische Lenkung  |t IFAC Proceedings Volumes  |d Amsterdam : Elsevier, 2019  |g 39(2006), 16, Seite 151-156  |h Online-Ressource  |w (DE-627)1668469197  |w (DE-600)2976778-7  |x 1474-6670  |7 nnas 
773 1 8 |g volume:39  |g year:2006  |g number:16  |g pages:151-156  |g extent:7  |a Solving the singularity problem for a holonomic mobile robot 
856 4 0 |u https://doi.org/10.3182/20060912-3-DE-2911.00029  |x Verlag  |x Resolving-System  |3 Volltext 
856 4 0 |u http://www.sciencedirect.com/science/article/pii/S1474667015341574  |x Verlag 
951 |a AR 
992 |a 20191212 
993 |a ConferencePaper 
994 |a 2006 
998 |g 1136732853  |a Badreddin, Essameddin  |m 1136732853:Badreddin, Essameddin  |d 110000  |e 110000PB1136732853  |k 0/110000/  |p 3  |y j 
998 |g 1180539672  |a Wagner, Achim  |m 1180539672:Wagner, Achim  |d 700000  |d 720000  |e 700000PW1180539672  |e 720000PW1180539672  |k 0/700000/  |k 1/700000/720000/  |p 2 
998 |g 141199040  |a Shenawy, Ahmed el  |m 141199040:Shenawy, Ahmed el  |d 700000  |d 720000  |e 700000PS141199040  |e 720000PS141199040  |k 0/700000/  |k 1/700000/720000/  |p 1  |x j 
999 |a KXP-PPN1685369219  |e 3564016341 
BIB |a Y 
SER |a journal 
JSO |a {"relHost":[{"title":[{"title_sort":"IFAC Proceedings Volumes","title":"IFAC Proceedings Volumes"}],"pubHistory":["Volume 1, issue 1 (August 1960)-volume 47, issue 3 (2014)"],"part":{"year":"2006","issue":"16","pages":"151-156","volume":"39","text":"39(2006), 16, Seite 151-156","extent":"7"},"disp":"Internationale Förderung für Automatische LenkungIFAC Proceedings Volumes","type":{"media":"Online-Ressource","bibl":"periodical"},"note":["Gesehen am 03.07.2019"],"recId":"1668469197","corporate":[{"roleDisplay":"VerfasserIn","display":"Internationale Förderung für Automatische Lenkung","role":"aut"}],"language":["eng"],"origin":[{"publisherPlace":"Amsterdam","dateIssuedDisp":"[2019?]-","publisher":"Elsevier"}],"id":{"issn":["1474-6670"],"eki":["1668469197"],"zdb":["2976778-7"]},"name":{"displayForm":["IFAC, International Federation of Automatic Control"]},"physDesc":[{"extent":"Online-Ressource"}]}],"physDesc":[{"extent":"7 S."}],"name":{"displayForm":["A. EL-Shenawy, A. Wagner and E. Badreddin"]},"id":{"doi":["10.3182/20060912-3-DE-2911.00029"],"eki":["1685369219"]},"origin":[{"dateIssuedDisp":"23 April 2016","dateIssuedKey":"2016"}],"language":["eng"],"recId":"1685369219","type":{"media":"Online-Ressource","bibl":"article-journal"},"note":["Elektronische Reproduktion der Druckausgabe","Gesehen am 12.12.2019"],"person":[{"given":"Ahmed el-","family":"Shenawy","role":"aut","display":"Shenawy, Ahmed el-","roleDisplay":"VerfasserIn"},{"given":"Achim","family":"Wagner","role":"aut","display":"Wagner, Achim","roleDisplay":"VerfasserIn"},{"family":"Badreddin","given":"Essameddin","roleDisplay":"VerfasserIn","display":"Badreddin, Essameddin","role":"aut"}],"title":[{"title_sort":"Solving the singularity problem for a holonomic mobile robot","title":"Solving the singularity problem for a holonomic mobile robot"}]} 
SRT |a SHENAWYAHMSOLVINGTHE2320 

Ähnliche Einträge