Article : texte imprimé

Velocity and Acceleration Cones for Kinematic and Dynamic Constraints on Omni-Directional Mobile Robots

Jianhua, Wu, Auteur ; Williams II, Robert L., Auteur ; Lew, Jae |

Dans Transactions of the ASME . Journal of dynamic systems, measurement, and control (Vol. 128 N°4, Decembre 2006)

We consider the problems of kinematic and dynamic constraints, with actuator saturation and wheel slippage avoidance, for motion planning of a holonomic three-wheeled omni-directional robot. That is, the motion planner must not demand more veloc[...]

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