𝔖 Bobbio Scriptorium
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A multibody approach for modelling universal wheels of mobile robots

✍ Scribed by P. Fisette; L. Ferriere; B. Raucent; B. Vaneghem


Book ID
108393998
Publisher
Elsevier Science
Year
2000
Tongue
English
Weight
267 KB
Volume
35
Category
Article
ISSN
0094-114X

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This paper presents a new di!erentiable, time-varying controller for the regulation problem for wheeled mobile robots. After the WMR kinematics have been transformed into an advantageous form, a dynamic oscillator, in lieu of explicit cosine or sine terms, is constructed to promulgate a global expon