Control of a robot with a swedish and a standard wheel

摘要

In this work, a novel design of a wheeled mobile robot (WMR) and an associated motion controller are presented. The kinematic design of the robot combines the advantages of standard wheels and Swedish wheels. The control problems of posture stabilization and posture tracking are solved using a single, singularity-free static state feedback and feedforward linearization controller. The practicability of the robot as well as the controller are demonstrated in real-world experiments.