Abstract
Wheelchair type robot has the casters. Casters moved freely, and this motion induced friction forces and cornering forces. Cornering forces cause the wobble and restricted forces. For this reason, it is difficult to control the wheelchair as operators directed. In this paper, we focus the effects of casters dynamics. And we propose the dynamical model of mobile robot that includes the dynamics of casters using the friction forces and cornering forces. Further we propose the compensation method using this model.
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