Turning Model of Tracked Mobile Robots under Steady State Conditions
Authors
Jun Han, Guoquan Ren, Dongwei Li, Ziyong Jia
Corresponding Author
Jun Han
Available Online May 2016.
- DOI
- 10.2991/wartia-16.2016.202How to use a DOI?
- Keywords
- Tracked Mobile Robots, turning model, steady state, track slipping.
- Abstract
In order to improve the accuracy of motion control, a turning model under steady state conditions of Tracked Mobile Robots (TMRs) is provided, based on considering tracks slipping. With making the sprocket rotating speed ratio of inner track to outer track independent variable, the turning of TMRs under steady state is analyzed and modeled, which is of enormous significance to the motion control of TMRs. And the comparison of numerical analysis results and experimental data shows reliable precision of the model.
- Copyright
- © 2016, the Authors. Published by Atlantis Press.
- Open Access
- This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - CONF AU - Jun Han AU - Guoquan Ren AU - Dongwei Li AU - Ziyong Jia PY - 2016/05 DA - 2016/05 TI - Turning Model of Tracked Mobile Robots under Steady State Conditions BT - Proceedings of the 2016 2nd Workshop on Advanced Research and Technology in Industry Applications PB - Atlantis Press SP - 949 EP - 955 SN - 2352-5401 UR - https://doi.org/10.2991/wartia-16.2016.202 DO - 10.2991/wartia-16.2016.202 ID - Han2016/05 ER -