Dynamics Analysis and Control of a Holonomic Vehicle With a Continuously Variable Transmission-Reference-Cited by-同舟云学术

Dynamics Analysis and Control of a Holonomic Vehicle With a Continuously Variable Transmission

Published:2000-10-06 Issue:1 Volume:124 Page:118-126
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Tahboub Karim A.¹,Asada Harry H.²

Affiliation:

1. College of Engineering and Technology, Palestine Polytechnic University, Hebron, Palestine

2. Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139

Abstract

This paper presents kinematic and dynamic analysis of a holonomic vehicle with continuously-variable transmission. Four ball wheels, independently actuated by DC motors, enable for moving the vehicle in any direction within the plane and rotating it around its center. The angle between the two beams holding the balls can be changed to alter the gear ratio and other dynamic characteristics of the vehicle. This feature is exploited in augmenting the vehicle stability, optimizing output power, selecting an appropriate gear ratio, and in impedance matching. A simple adaptive friction-compensation-based controller is proposed to handle the complex friction properties.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/124/1/118/5500393/118_1.pdf

Reference7 articles.

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2. Guzzella, L., and Schmid, A., 1995, “Feedback Linearization of Spark-Ignition Engines with Continuously Variable Transmissions,” IEEE Trans. Control Syst., 3, No. 1, pp. 54–60.

3. Hirose, S., Tibbetts, C., and Hagiwara, T., 1999, “Development of X-Screw: A Load-Sensitive Actuator Incorporating a Variable Transmission,” IEEE International Conference on Robotics and Automation, pp. 193–199.

4. Pin, F., and Killough, M., 1994, “A New Family of Omnidirectional and Holonomic Wheeled Platform for Mobile Robots,” IEEE Trans. Rob. Autom., 10, No. 4, pp. 480–489.

5. Wada, M., and Asada, H., 2000, “Design and Control of a Variable Footprint Mechanism for Holonomic Omnidirectional Vehicles and Its Application to Wheelchair,” IEEE Trans. Rob. Autom., 16, No. 1, pp. 1–9.

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