Dynamics Analysis and Control of a Holonomic Vehicle With a Continuously Variable Transmission

[+] Author and Article Information
Karim A. Tahboub

College of Engineering and Technology, Palestine Polytechnic University, Hebron, Palestinee-mail: tahboub@ppu.edu

Harry H. Asada

Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139e-mail: asada@mit.edu

J. Dyn. Sys., Meas., Control 124(1), 118-126 (Oct 06, 2000) (9 pages) doi:10.1115/1.1434270 History: Received October 06, 2000
Copyright © 2002 by ASME
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Omnidirectional reconfigurable base
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Pivotal joint of the vehicle
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Passive and active velocities of balls
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Free body diagram of actuator-ball coupling
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Prototype of the wheelchair
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Vehicle velocity versus base angle
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Vehicle acceleration versus velocity
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Power losses as function of base angle and direction of motion
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Estimated and actual friction force for y-motion
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Desired and actual vehicle’s orientation angle with friction compensation
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Desired and actual vehicle’s position along the y-axis with motor saturation




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