Multi Degree of Freedom Robot

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Authors
  1. Sharf, I.
  2. Turker, K.
  3. Wong, C.
  4. Li, B.
  5. Phung, L.
Corporate Authors
Defence Research and Development Canada, Suffield Research Centre, Ralston AB (CAN);McGill Univ, Montreal QUE (CAN)
Abstract
The inverse kinematic controller which has been adapted for MHT and defined in detail in [1] will be used to perform the required maneuvers for Task 1.1. Briefly, there are two different sets of control inputs (trajectory and posture) for the controller. Trajectory inputs are velocity of the robot’s body along X and Y axis and angular velocity (yaw) of the robot body along Z axis (Note that trajectory inputs are defined wrt to global coordinate frame FI which is fixed to the ground). On the other hand, posture inputs are body pitch and roll angles, average of the z coordinates of all four wheel centers in body fixed frame Fp and x coordinates of each wheel center in Fp.
Keywords
UGV;control;robotics;bio inspired
Report Number
DRDC-RDDC-2015-C151 — Contract Report
Date of publication
01 Feb 2015
Number of Pages
82
DSTKIM No
CA040930
CANDIS No
802077
Format(s):
Electronic Document(PDF)

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