| Title |
Modeling and Path-Tracking of Wheeled-Mobile Robots having the Limited Drive-Torques |
| Keywords |
kinematic and dynamic modeing ; force/torque propagation ; Newton′s equilibrium ; time-scaling ; WMRs |
| Abstract |
In this paper are presented kinematic and dynamic modeling and path-tracking of four-wheeled mobile robots with 2 d.o.f haying the limited drive-torques. Controllability of wheeled-mobile robots is revealed by the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to drive the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient. |