Abstract
The problem of reconstruction and compensation of sliding effects for mobile robots by using virtual prototyping technologies was investigated. First a mobile robot system including road and tire models was built with ADAMS. With this model, some simulations were carried out to demonstrate sliding effects considering different ground conditions through which sliding angles which cannot be measured directly may be reconstructed relying on kinematics analysis. By feeding those sliding parameters into a designed anti-sliding controller, ADAMS/MATLAB co-simulations were performed to verify effectiveness of the anti-sliding controller.
| Original language | English |
|---|---|
| Pages (from-to) | 4059-4062+4068 |
| Journal | Xitong Fangzhen Xuebao / Journal of System Simulation |
| Volume | 21 |
| Issue number | 13 |
| Publication status | Published - 5 Jul 2009 |
Keywords
- Anti-sliding control
- Co-simulations
- Mobile robots
- Virtual prototyping