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RESEARCH PAPERS

Motion Control Analysis of a Mobile Robot

[+] Author and Article Information
J. Borenstein

Technion, Israel Institute of Technology, Haifa, Israel

Y. Koren

The Department of Mechanical Engineering and Applied Mechanics, The University of Michigan, Ann Arbor, Michigan 48109

J. Dyn. Sys., Meas., Control 109(2), 73-78 (Jun 01, 1987) (6 pages) doi:10.1115/1.3143840 History: Online July 21, 2009

Abstract

A computer-controlled vehicle that is part of a mobile nursing robot system is described. The vehicle applies a motion control strategy that attempts to avoid slippage and minimize position errors. A cross-coupling control algorithm that guarantees a zero steady-state orientation error (assuming no slippage) is proposed and a stability analysis of the control system is presented. Results of experiments performed on a prototype vehicle verify the theoretical analysis.

Copyright © 1987 by ASME
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