Please use this identifier to cite or link to this item: http://dx.doi.org/10.18419/opus-4493
Full metadata record
DC FieldValueLanguage
dc.contributor.authorSchiehlen, Wernerde
dc.date.accessioned2012-10-04de
dc.date.accessioned2016-03-31T08:16:59Z-
dc.date.available2012-10-04de
dc.date.available2016-03-31T08:16:59Z-
dc.date.issued1994de
dc.identifier.other372848966de
dc.identifier.urihttp://nbn-resolving.de/urn:nbn:de:bsz:93-opus-77652de
dc.identifier.urihttp://elib.uni-stuttgart.de/handle/11682/4510-
dc.identifier.urihttp://dx.doi.org/10.18419/opus-4493-
dc.description.abstractThe positional degrees of freedom of a mobile robot are reduced by nonholonomic constraints further to a smaller number of motional degrees of freedom. It is shown how the equations of motion can be reduced to a minimal number using generalized coordinates and generalized velocities. The theoretical results are applied to an actively controlled robot with stiff tires. One scalar control variable provides full controllability of the position of the robot moving on a plane surface. A control strategy is found for stationary and instationary motions.en
dc.language.isoende
dc.rightsinfo:eu-repo/semantics/openAccessde
dc.subject.classificationRoboter , Simulation , Nichtholonome Bedingungde
dc.subject.ddc620de
dc.titleDynamics and control of nonholonomic mobile robot systemsen
dc.typeconferenceObjectde
ubs.fakultaetFakultät Konstruktions-, Produktions- und Fahrzeugtechnikde
ubs.institutInstitut für Technische und Numerische Mechanikde
ubs.opusid7765de
ubs.publikation.sourceSciavicco, Lorenzo (Hrsg.): Preprints of the Fourth IFAC Symposium on Robot Control. Capri : IFAC, 1994, S. 329-334de
ubs.publikation.typKonferenzbeitragde
Appears in Collections:07 Fakultät Konstruktions-, Produktions- und Fahrzeugtechnik

Files in This Item:
File Description SizeFormat 
schi43.pdf1,11 MBAdobe PDFView/Open


Items in OPUS are protected by copyright, with all rights reserved, unless otherwise indicated.