Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Intelligent Computer and Applications》 2019-04
Add to Favorite Get Latest Update

End position and attitude measurement and error compensation control of wheeled robot

CHEN Xiaosheng;Huali College,Guangdong University of Technology;  
In order to improve the stability of wheel robot control,a method of end position and attitude measurement and error compensation control of wheeled robot based on steady-state tracking and recognition is proposed,and the dynamic model of elastic linkage mechanism of wheeled robot is constructed. The parameter identification of the elastic linkage mechanism of wheeled robot is carried out under the given acceleration constraint. In the motion plane of the robot,the standard Kalman filter model is used to process the fusion of the motion and attitude parameters. The parameters of the wheeled robot are adjusted adaptively according to the end position of the robot. The proportional-differential control model is used to measure the end position and control the error compensation of the robot. The trajectory tracking and pose measurement of wheeled robot are realized by using multi-step iterative method,and the accuracy of robot ' s position and pose is improved. The simulation results showthat this method has higher accuracy,better error compensation control ability and better robustness in the measurement of the end position and pose of wheeled robot.
【CateGory Index】: TP242
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
【Citations】
Chinese Journal Full-text Database 2 Hits
1 WANG Shuo;YU Mei;TAN Wen;School of Control and Computer Engineering,North China Electric Power University;;STABILITY ANALYSIS OF NETWORKED CONTROL SYSTEM WITH PACKET LOSS COMPENSATION AND QUANTIZED FEEDBACK[J];系统科学与数学;2015-03
2 ZHOU Fan;ZHENG Wei;WANG Zengfu;Department of Automation, University of Science and Technology of China;Institute of Intelligent Machines, Chinese Academy of Sciences;;Real-time Motion Estimation for UAVs Based on Dissimilar Multi-sensor Data Fusion[J];机器人;2015-01
【Co-citations】
Chinese Journal Full-text Database 2 Hits
1 Jiang Yan;Zhai Jincheng;Foundation Department, Zhengzhou Tourism College;Department of Science Teaching,Zhengzhou Kindergarten Teachers College;;Details Enhancement Algorithm of Fuzzy Image Based on Wavelet Packet Layered Purification[J];科技通报;2015-12
2 Chen Lili;Nantong Institute of Technology;;Adaptive Contour Tracking Labeling Algorithm for CCD Imaging Remote Sensing[J];科技通报;2015-12
【Secondary Citations】
Chinese Journal Full-text Database 4 Hits
1 Chao-Lei Wang;Tian-Miao Wang;Jian-Hong Liang;Yi-Cheng Zhang;Yi Zhou;Robotics Institute, Beijing University of Aeronautics and Astronautics;;Bearing-only Visual SLAM for Small Unmanned Aerial Vehicles in GPS-denied Environments[J];International Journal of Automation and Computing;2013-05
2 BAI Yongqiang1,2,LIU Hao1,SHI Zongying1,ZHONG Yisheng1(1.Department of Automation,Tsinghua University,Beijing 100084,China;2.No.63880 Unit of PLA,China);Robust Flight Control of Quadrotor Unmanned Air Vehicles[J];机器人;2012-05
3 YAN Maode SONG Cheng WANG Ping (School of Electronic and Control Engineering,Chang'an University,Xi'an 710064);SLIDING-MODE CONTROL FOR A CLASS OF UNCERTAIN SYSTEMS WITH TIME-VARYING DELAY AND MARKOV JUMPING PARAMETERS[J];系统科学与数学;2012-06
4 XIE Linbo(Institute of Electrical Automation,Jiangnan University,Wuxi 214122) CHEN Erkui(Institute of Electrical Automation,Jiangnan University,Wuxi 214122;College of Information and Electrical Engineering,University of Science and Technology,Qingdao 266510) WANG Yan(Institute of Electrical Automation,Jiangnan University,Wuxi 214122);STABILITY ANALYSIS AND QUANTIZATION PARAMETERS DESIGN OF SYSTEMS WITH FINITE QUANTIZERS[J];系统科学与数学;2009-01
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved