Steering-angle computation for the multibody modelling of differential-driving mobile robots with a caster
Since many off-the-shelf motor drives are supplied with complete control capability in the current, velocity and position loop, the robot model in the navigation control architecture can be oriented either to kinematics, interfaced with the velocity loop, or to dynamics, with the motor-current loop....
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2018-12-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881418820166 |