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TECHNICAL PAPERS

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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References

Gott, P., 1991, “Changing Gears: The Development of the Automatic Transmission,” SAE, Inc., pp. 25–30.
Guzzella,  L., and Schmid,  A., 1995, “Feedback Linearization of Spark-Ignition Engines with Continuously Variable Transmissions,” IEEE Trans. Control Syst., 3, No. 1, pp. 54–60.
Hirose, S., Tibbetts, C., and Hagiwara, T., 1999, “Development of X-Screw: A Load-Sensitive Actuator Incorporating a Variable Transmission,” IEEE International Conference on Robotics and Automation, pp. 193–199.
Pin,  F., and Killough,  M., 1994, “A New Family of Omnidirectional and Holonomic Wheeled Platform for Mobile Robots,” IEEE Trans. Rob. Autom., 10, No. 4, pp. 480–489.
Wada,  M., and Asada,  H., 2000, “Design and Control of a Variable Footprint Mechanism for Holonomic Omnidirectional Vehicles and Its Application to Wheelchair,” IEEE Trans. Rob. Autom., 16, No. 1, pp. 1–9.
Auslander, D., 1996, Mechatronics: Mechanical System Interfacing, Prentice Hall, NJ.
Amin,  J., Friedland,  B., and Harony,  A., 1997, “Implementation of a Friction Estimation and Compensation Technique,” IEEE Control Syst. Mag., 17, No. 4, pp. 71–76.

Figures

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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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