Energy-Efficient Torque Distribution Optimization for an Omnidirectional Mobile Robot with Powered Caster Wheels
<b> </b>A mobile robot with no less than two powered caster wheels (PCWs) has the ability to perform omnidirectional motions and belongs to a redundantly actuated system. Redundant actuation will bring the issue of non-uniqueness of actuating torque distribution, and inappropriate choice...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-11-01
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| Series: | Energies |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1996-1073/12/23/4417 |