Abstract
SUMMARYIn recent years, omnidirectional wheels have found more applications in the design of automated guided vehicles (AGV). In this work, LuGre friction model is used for an omnidirectional wheel. A test setup that includes a single omnidirectional wheel is designed and constructed to identify the model parameters. With the help of the constructed test setup, the longitudinal friction characteristic of the omnidirectional wheel is obtained, and the model is verified via validation tests. In addition, for the first time, the effect of lateral frictional force on longitudinal motion is examined for an omnidirectional wheel through experiments.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Reference27 articles.
1. Kinematic modeling and analysis of skid-steered mobile robots with applications to low-cost inertial-measurement-unit-based motion estimation;Yi;IEEE Trans Robot,2009
2. 6. Oftadeh, R. , Aref, M. M. , Ghabcheloo, R. and Mattila, J. , “Mechatronic design of a four-wheel steering mobile robot with fault-tolerant odometry feedback,” In: 6th IFAC Symposium on Mechatronic Systems (2013) pp. 663–669.
3. A Solid Friction Model
4. 23. Pacejka, H. , Tire and Vehicle Dynamics (Butterworth-Heinemann, Oxford, UK, 3rd Edition, 2012).
5. Modeling of slip for wheeled mobile robots
Cited by
5 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献