Please use this identifier to cite or link to this item: https://doi.org/10.1109/AIM.2008.4601792
DC FieldValue
dc.titleSlip modelling, detection and control for redundantly actuated wheeled mobile robots
dc.contributor.authorLi, Y.P.
dc.contributor.authorAng Jr., M.H.
dc.contributor.authorLin, W.
dc.date.accessioned2014-06-19T05:40:19Z
dc.date.available2014-06-19T05:40:19Z
dc.date.issued2008
dc.identifier.citationLi, Y.P.,Ang Jr., M.H.,Lin, W. (2008). Slip modelling, detection and control for redundantly actuated wheeled mobile robots. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM : 967-972. ScholarBank@NUS Repository. <a href="https://doi.org/10.1109/AIM.2008.4601792" target="_blank">https://doi.org/10.1109/AIM.2008.4601792</a>
dc.identifier.isbn9781424424955
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/73867
dc.description.abstractThis paper presents a comprehensive methodology (modelling, detection, and control) for tackling slip problems in redundantly actuated wheeled mobile robots. A new concept, "slip velocity", is introduced for the purpose of enlarging the robots' kinematic model by including slip modelling. Our simple and yet effective slip detection scheme is based on the sensing redundancy of the system. The slip control scheme is based on the relationship between slip velocity and its associated constraint force. The effectiveness of the proposed slip detection and slip control schemes is demonstrated with experimental results. For the first time, experimental results of a force controlled wheeled mobile robot with the proposed schemes implemented is presented. The proposed schemes can be applied to both mobile robots and mobile manipulation systems. © 2008 IEEE.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/AIM.2008.4601792
dc.sourceScopus
dc.typeConference Paper
dc.contributor.departmentMECHANICAL ENGINEERING
dc.description.doi10.1109/AIM.2008.4601792
dc.description.sourcetitleIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
dc.description.page967-972
dc.identifier.isiutNOT_IN_WOS
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