U.S. Department of EnergyOffice of Scientific and Technical Information
Position and force control of a vehicle with two or more steerable drive wheels
Abstract
When a vehicle with two or more steerable drive wheels is traveling in a circle, the motion of the wheels is constrained. The wheel translational velocity divided by the radius to the center of rotation must be the same for all wheels. When the drive wheels are controlled independently using position control, the motion of the wheels may violate the constraints and the wheels may slip. Consequently, substantial errors can occur in the orientation of the vehicle. A vehicle with N drive wheels has (N - 1) constraints and one degree of freedom. We have developed a new approach to the control of a vehicle with N steerable drive wheels. The novel aspect of our approach is the use of force control. To control the vehicle, we have one degree of freedom for the position on the circle and (N - 1) forces that can be used to reduce errors. Recently, Kankaanranta and Koivo developed a control architecture that allows the force and position degrees of freedom to be decoupled. In the work of Kankaanranta and Koivo the force is an exogenous input We have made the force endogenous by defining the force in terms of the errors in satisfyingmore »
- Authors:
- Publication Date:
- Research Org.:
- Oak Ridge National Lab., TN (United States)
- Sponsoring Org.:
- USDOE, Washington, DC (United States)
- OSTI Identifier:
- 10184219
- Report Number(s):
- CONF-930519-2
ON: DE92041301
- DOE Contract Number:
- AC05-84OR21400
- Resource Type:
- Conference
- Resource Relation:
- Conference: Institute of Electrical and Electronics Engineers international conference on robotics and automation,Atlanta, GA (United States),2-7 May 1993; Other Information: PBD: [1992]
- Country of Publication:
- United States
- Language:
- English
- Subject:
- 42 ENGINEERING; ROBOTS; NAVIGATION; VEHICLES; EQUATIONS OF MOTION; WHEELS; DEGREES OF FREEDOM; COMPUTERIZED CONTROL SYSTEMS; ROTATION; TORQUE; 420203; HANDLING EQUIPMENT AND PROCEDURES
Citation Formats
Reister, D B, and Unseren, M A. Position and force control of a vehicle with two or more steerable drive wheels. United States: N. p., 1992.
Web.
Reister, D B, & Unseren, M A. Position and force control of a vehicle with two or more steerable drive wheels. United States.
Reister, D B, and Unseren, M A. 1992.
"Position and force control of a vehicle with two or more steerable drive wheels". United States.
@article{osti_10184219,
title = {Position and force control of a vehicle with two or more steerable drive wheels},
author = {Reister, D B and Unseren, M A},
abstractNote = {When a vehicle with two or more steerable drive wheels is traveling in a circle, the motion of the wheels is constrained. The wheel translational velocity divided by the radius to the center of rotation must be the same for all wheels. When the drive wheels are controlled independently using position control, the motion of the wheels may violate the constraints and the wheels may slip. Consequently, substantial errors can occur in the orientation of the vehicle. A vehicle with N drive wheels has (N - 1) constraints and one degree of freedom. We have developed a new approach to the control of a vehicle with N steerable drive wheels. The novel aspect of our approach is the use of force control. To control the vehicle, we have one degree of freedom for the position on the circle and (N - 1) forces that can be used to reduce errors. Recently, Kankaanranta and Koivo developed a control architecture that allows the force and position degrees of freedom to be decoupled. In the work of Kankaanranta and Koivo the force is an exogenous input We have made the force endogenous by defining the force in terms of the errors in satisfying the rigid body kinematic constraints. We have applied the control architecture to the HERMIES-M robot and have measured a dramatic reduction in error (more than a factor of 20) compared to rations without force control.},
doi = {},
url = {https://www.osti.gov/biblio/10184219},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Sun Nov 01 00:00:00 EST 1992},
month = {Sun Nov 01 00:00:00 EST 1992}
}