Abstract
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.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
More From: International Journal of Precision Engineering and Manufacturing
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.