Dynamical Analysis of Pushing an Object and Experiments on the Coordinated Control by Two Mobile Robots
Date Issued
2006
Date
2006
Author(s)
Chen, Zheng-Wen
DOI
zh-TW
Abstract
The main theme of this thesis is to study the dynamical behavior of pushing an object and to conduct the experiment of pushing using two mobile robot . In studying the dynamics of pushing , three models are estimate , first one ignores the influence of friction , the second one includes the influence of uniform friction ; and the third takes into account the influence of non-uniform friction. We discuss the stability of this system and design the control law for tracking . We find that the model with non-uniform friction is more close to the real case , and is easier to control . Although the pushing system is unstable in general , we can still control it by designing the control law through changing the acting point and the direction of the pushing force .
In the experiment , we use fuzzy theory in which the position error and the posture error are taken as system input . The compensation on the velocity of the object is treated as system output . The coordinated control model is then used to convert the velocity compensation to velocity compensation of the wheels . The methodology is first verified through simulation , and then justified by experiment .
Subjects
協同推物
Coordinated control
Type
thesis
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