scholarly journals A Path Following Feedback Control Method with a Variable Velocity for a Cooperative Transportation System with Two Car-Like Mobile Robots and Its Experimental Verification(Mechanical Systems)

2010 ◽  
Vol 76 (767) ◽  
pp. 1753-1762
Author(s):  
Hiroaki YAMAGUCHI ◽  
Tomoya HIRAMOTO ◽  
Atsushi KAWAKAMI
Keyword(s):  
Feedback Control ◽  
Mobile Robots ◽  
Experimental Verification ◽  
Control Method ◽  
Mechanical Systems ◽  
Path Following ◽  
Transportation System ◽  
Variable Velocity ◽  
Feedback Control Method ◽  
Cooperative Transportation

Control of a Two-Joint, Two-Steering Snake-Like Robot

2009 ◽  
Vol 21 (1) ◽  
pp. 66-73
Author(s):  
Hiroaki Yamaguchi ◽  
Keyword(s):  
Feedback Control ◽  
Constant Velocity ◽  
Control Method ◽  
Mechanical Design ◽  
Path Following ◽  
Steering System ◽  
Mathematical Framework ◽  
Feedback Control Method ◽  
New Type ◽  
Position And Orientation

This paper introduces and describes a new type of snake-like robot, a two-joint, two-steering snake-like robot, and its control method. We first present a mechanical design of this snake-like robot that is inspired by a mathematical perspective on conversion of its kinematical equation into three-chain, single-generator chained form in a mathematical framework, differential geometry. Especially, we assume a virtual steering system at the head of the first link of the snake-like robot, which makes the conversion possible. We secondly present a path following feedback control method based on chained form that enables the first link to follow straight paths at a constant velocity. Of course, it is also possible for the first link to have any desired position and orientation by combining some followings of straight paths under this feedback control method. Validity of the mechanical design of the snake-like robot, the conversion of its kinematical equation, and its control method is verified by computer simulations. This paper is the full translation from the transactions of JSME Vol.71, No.706.

A Conversion of a Cooperative Transportation System with Two Car-Like Mobile Robots into Two-Chain, Single-Generator Chained Form and its Steering

2009 ◽  
Vol 21 (1) ◽  
pp. 57-65 ◽  
Author(s):  
Hiroaki Yamaguchi ◽  
◽  
Tamio Arai ◽  
Keyword(s):  
Differential Geometry ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Computer Simulations ◽  
Control Method ◽  
Transportation System ◽  
Steering Angle ◽  
Single Generator ◽  
Angular Velocities ◽  
Cooperative Transportation

This paper presents a novel methodology for steering a cooperative transportation system comprising two car-like mobile robots coupled together via a carrier. The system is a three-input seven-variable drift-free nonholonomic mechanical system. The three control inputs are the moving velocity of the first mobile robot and the steering angular velocities of the two mobile robots. The seven variables are the positions of the first mobile robot along the x- and y-axes, its steering angle, its orientation, the orientation of the carrier, the steering angle of the second mobile robot, and its orientation. We first convert the system into two-chain, single-generator chained form, based on differential geometry. We secondly present a control method of the system with polynomial inputs derived in chained form. Validity of the conversion and the control method is verified by computer simulations performed on driving this cooperative transportation system into a garage. This paper is the full translation from the transactions of JSME Vol.69, No.686.

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