The aim of this article is to design a new experimental robot system based on the Robot Operating System-MATLAB framework. To validate the performance, a nonlinear tracking controller includes the following features. Firstly, the surface robot model is in Lie algebra S O (3) ...
Trajectory tracking for omnidirectional mecanum robot with longitudinal slipping 机译:具有纵向滑移的全向麦克纳姆机器人的轨迹跟踪 获取原文 获取外文期刊封面目录资料 开具论文收录证明 >> 页面导航 摘要 著录项 相似文献 相关主题 摘要 This paper propose an adaptive control law for an omnidirectional mecanum...
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open_system('robotSafeTrajectoryTracking.slx'); Warning: Method 'register' is not defined for class 'CloneDetectionUI.internal.CloneDetectionPerspective' or is removed from MATLAB's search path. The robotSafeTrajectoryTracking model implements a computed torque controller with trajectory scaling for sa...
In this method, collision avoidance is embedded into the trajectory tracking control problem as a nonlinear constraint of the position state, which changes with time to solve the obstacle-avoidance problem in dynamic environments. The CasADi toolkit was used in MATLAB to generate a real-time, ...
Controller optimization for trajectory tracking All of the simulations provided in this study were run in MATLAB/SIMULINK with the ODE45 solver using 0.001 s sampling time and the simulation time is taken to be 5 s on a personal computer with an Intel® Core™ i7-10750H CPU running at 2....
The simulation of trajectory tracking control system is carried out on the platform of Matlab/Simulink. The results indicate that the trajectory tracking control system of three-wheeled omni-directional mobile robots based on the improved dynamical model with slip has good stability and accuracy. 展开...
To this end, a 6-DoF GSP was built in Simulink environment of MatLab software. The authors evaluated performance of the proposed controller for sinusoidal trajectory tracking. Sliding Mode control strategy has the potential to be used for control of robotic systems with large uncertainties [25]. ...
Then a new trajectory tracking algorithm is designed by using the sigma-pi neural network and backstepping. The paper designs the sigma-pi neural network compensation control law and gives the Lyapunov-type stability analysis. Then the corresponding numerical simulations are performed by using MATLAB....
At last, the simulation results based on the Matlab/Simulation show that the sliding-mode controller has good control accuracy when used in the trajectory tracking control of the robot. 展开 关键词: Kalman filter mobile robot sliding-mode controller ...