Multiple-degree-of-freedom vehicle

Patent · Sun Jan 01 00:00:00 EST 1995

OSTI ID:870104

Borenstein, Johann ^[1]

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1. Ann Arbor, MI

A multi-degree-of-freedom vehicle employs a compliant linkage to accommodate the need for a variation in the distance between drive wheels or drive systems which are independently steerable and drivable. The subject vehicle is provided with rotary encodes to provide signals representative of the orientation of the steering pivot associated with each such drive wheel or system, and a linear encoder which issues a signal representative of the fluctuations in the distance between the drive elements. The wheels of the vehicle are steered and driven in response to the linear encoder signal, there being provided a controller system for minimizing the fluctuations in the distance. The controller system is a software implementation of a plurality of controllers, operating at the chassis level and at the vehicle level. A trajectory interpolator receives x-displacement, y-displacement, and .theta.-displacement signals and produces to the vehicle level controller trajectory signals corresponding to interpolated control signals. The x-displacement, y-displacement, and .theta.-displacement signals are received from a human operator, via a manipulable joy stick.

• Assignee: Board of Regents of University of Michigan (Ann Arbor, MI)
• Patent Number(s): US 5456332
• OSTI ID: 870104
• Country of Publication: United States
• Language: English

Related Subjects

multiple-degree-of-freedom
vehicle
multi-degree-of-freedom
employs
compliant
linkage
accommodate
variation
distance
drive
wheels
systems
independently
steerable
drivable
subject
provided
rotary
encodes
provide
signals
representative
orientation
steering
pivot
associated
wheel
linear
encoder
issues
signal
fluctuations
elements
steered
driven
response
controller
minimizing
software
implementation
plurality
controllers
operating
chassis
level
trajectory
interpolator
receives
x-displacement
y-displacement
theta
-displacement
produces
corresponding
interpolated
control
received
human
operator
via
manipulable
joy
stick
signals representative
drive wheels
level control
signal representative
control signal
control signals
signals corresponding
drive wheel
provide signals
drive systems
human operator
/180/