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Control Law Synthesis for Slip Reduction of Wheeled Robot

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ROMANSY 18 Robot Design, Dynamics and Control

Part of the book series: CISM International Centre for Mechanical Sciences ((CISM,volume 524))

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Abstract

A new method of motion synthesis for wheeled mobile robots is presented. Dynamics model describing the slip phenomenon taking into account the wheel-ground interaction is derived. The pattern of wheel motion control reducing the slip is proposed. The presented results were obtained in the frame of PROTEUS project devoted to the autonomous robots for inspection and exploration.

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Author information

Authors and Affiliations

  1. Institute of Aeronautics & Applied Mechanics (WUT-IAAM), Warsaw University of Technology, ul.Nowowiejska 24, 00-665, Warsaw, Poland

    Teresa Zielinska & Andrzej Chmielniak

Authors
  1. Teresa Zielinska
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  2. Andrzej Chmielniak
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Editor information

Editors and Affiliations

  1. University of Bologna, Italy

    Vincenzo Parenti Castelli

  2. University of Stuttgart, Germany

    Werner Schiehlen

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© 2010 CISM, Udine

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Zielinska, T., Chmielniak, A. (2010). Control Law Synthesis for Slip Reduction of Wheeled Robot. In: Parenti Castelli, V., Schiehlen, W. (eds) ROMANSY 18 Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 524. Springer, Vienna. https://doi.org/10.1007/978-3-7091-0277-0_40

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  • DOI: https://doi.org/10.1007/978-3-7091-0277-0_40

  • Publisher Name: Springer, Vienna

  • Print ISBN: 978-3-7091-0276-3

  • Online ISBN: 978-3-7091-0277-0

  • eBook Packages: EngineeringEngineering (R0)

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