Observer-based dynamic parameter identification for wheeled mobile robots

被引：9
|
作者：
Ngoc-Bach Hoang [1 ]
Kang, Hee-Jun [2 ]
机构：
[1] Univ Ulsan, Grad Sch Elect Engn, Ulsan 680749, South Korea
[2] Univ Ulsan, Sch Elect Engn, Ulsan 680749, South Korea
来源：
INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING | 2015年 / 16卷 / 06期
关键词：
Mobile robot; Dynamic parameter identification; Solidworks/SimMechanics; Virtual prototype; FAULT ADAPTIVE-CONTROL; TRACKING CONTROL; MANIPULATOR;
D O I：
10.1007/s12541-015-0140-z
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper presents a novel method for online dynamic parameter identification in wheeled mobile robots with nonholonomic constraints. First, the direct dynamic model of a mobile robot is obtained and reformulated in the linear form of dynamic parameters. Then, an adaptive estimation routine is proposed in order to identify the robot dynamic parameters with high accuracy and in finite time without requiring the measurement of the acceleration state vector. Based on Solidworks/ SimMechanics, a virtual prototype with the structure of a real mobile robot system is established to implement in the simulation. The simulation results demonstrate the effectiveness of the proposed approach for identifying the mobile robot dynamic parameters.
引用
收藏
页码：1085 / 1093
页数：9
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