期刊论文

Active tension control for WT wheelchair robot by using a novel control law for holonomic or nonholonomic systems

标题 Active tension control for WT wheelchair robot by using a novel control law for holonomic or nonholonomic systems
description.department 机器人学研究室
contributor.correspondent 王剑
subject.keyword Control theory,MATLAB,Robots,Stairs
刊名 Mathematical Problems in Engineering
identifier.issn 1024-123X
发表日期 2013
期刊论文的卷 2013
收录类别 SCI,EI
identifier.eiid 20134216868736
identifier.wosid WOS:000325293900001
rights.rank 1
description.abstract Interactional characteristics between WT wheelchair robot and stair environment are analyzed, and possible patterns of WT wheelchair robot during the stair-climbing process are summarized, with the criteria of the wheelchair robot for determining the pattern proposed. Aiming at WT wheelchair robot's complicated mechanism with holonomic constraints and combined with the computed torque method, a novel control law that is called active tension control is presented for holonomic or nonholonomic robotic systems, by which the wheelchair robot with a holonomic or nonholonomic mechanism can track the reference input of the constraint forces of holonomic or nonholonomic constraints as well as tracking the reference input of the generalized coordinate of each joint. A stateflow module of Matlab is used to simulate the entire stair-climbing process for WT wheelchair robot. A comparison of output curve with the reference input curve of each joint is made, with the effectiveness of the presented control law verified. © 2013 Jian Wang et al.
语种 英语
subject.wos_headings Science & Technology,Technology,Physical Sciences
subject.wos_subject Engineering, Multidisciplinary,Mathematics, Interdisciplinary Applications
subject.keywords_plus MECHANICAL SYSTEMS,TRACKING,MANIPULATORS,STABILIZATION
subject.wos_subject_extended Engineering,Mathematics
作品演化相关信息 桂建军于2013-12-27 09:36:52导入数据到SIA OpenIR的IR
作品提交的日期 2013-12-27T01:36:52Z
作品公开可用的日期 2013-12-27
URI标识 http://ir.sia.cn/handle/173321/14070
推荐引用方式 Wang J,Wang T,Yao C,et al. Active tension control for WT wheelchair robot by using a novel control law for holonomic or nonholonomic systems[J]. Mathematical Problems in Engineering,2013,2013.,Wang J,Wang T,Yao C,et al. Active tension control for WT wheelchair robot by using a novel control law for holonomic or nonholonomic systems[J]. Mathematical Problems in Engineering,2013,2013.
rights.licence 2
内容类型 期刊论文