Controllability of a multibody mobile robot
- 1 January 1991
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1033-1038 vol.2
- https://doi.org/10.1109/icar.1991.240420
Abstract
Presents a proof of controllability for multibody mobile robots. An instance of such systems correspond to a car pulling and pushing trailers, like a luggage carrier in an airport. Three modeling levels are built: geometrical, differential and control models respectively. The authors shows that four different control systems correspond to a same differential model. The differential model is then used to give a same proof of controllability for four distinct multibody mobile robot systems.Keywords
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