Location
ERAU
Document Type
Event
Keywords
Mobile Robot, Control, Transposed Jacobian
Description
This paper describes a method of controlling the position of a differential drive mobile robot. Specifically, the paper addresses the problem of driving some point that is fixed with respect to the robot to a desired location in the work-space. Borrowing from manipulator control theory, a transposed Jacobian control technique is formulated to solve this problem. The transposed Jacobian technique results in generalized control forces rather than actuator voltages, so a transformation is devised based upon the computed-torque technique to obtain the equivalent actuator voltages given these control forces. Additionally, a tuning method for the control that is based upon dominant pole theory is devised. Simulations are the presented that show the capabilities of the controller and the tuning method.
DOI
https://doi.org/10.5038/DMPV4200
Transposed Jacobian Control of a Mobile Robot
ERAU
This paper describes a method of controlling the position of a differential drive mobile robot. Specifically, the paper addresses the problem of driving some point that is fixed with respect to the robot to a desired location in the work-space. Borrowing from manipulator control theory, a transposed Jacobian control technique is formulated to solve this problem. The transposed Jacobian technique results in generalized control forces rather than actuator voltages, so a transformation is devised based upon the computed-torque technique to obtain the equivalent actuator voltages given these control forces. Additionally, a tuning method for the control that is based upon dominant pole theory is devised. Simulations are the presented that show the capabilities of the controller and the tuning method.