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Title: Multiple-degree-of-freedom vehicle

Abstract

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.

Inventors:
 [1]
  1. Ann Arbor, MI
Issue Date:
OSTI Identifier:
870104
Patent Number(s):
5456332
Assignee:
Board of Regents of University of Michigan (Ann Arbor, MI)
Patent Classifications (CPCs):
B - PERFORMING OPERATIONS B60 - VEHICLES IN GENERAL B60K - ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES
G - PHYSICS G05 - CONTROLLING G05D - SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
Resource Type:
Patent
Country of Publication:
United States
Language:
English
Subject:
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/

Citation Formats

Borenstein, Johann. Multiple-degree-of-freedom vehicle. United States: N. p., 1995. Web.
Borenstein, Johann. Multiple-degree-of-freedom vehicle. United States.
Borenstein, Johann. Sun . "Multiple-degree-of-freedom vehicle". United States. https://www.osti.gov/servlets/purl/870104.
@article{osti_870104,
title = {Multiple-degree-of-freedom vehicle},
author = {Borenstein, Johann},
abstractNote = {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.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1995},
month = {1}
}

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