A rapid mobile robot synthesis

摘要

In this paper, we design a new mobile robot in order to study the dynamic phenomena with a fast robot. This plate-form has a classical locomotion structure, two front free wheels and two rear driving wheels. We present a new multilayers architecture to decentralize the computation. We adopt a CAN protocol communication to connect the different layers. Dedicated cards have been developed for low level control. After this realizations, we establish the constraint equations and dynamic model. We determinate a control law to perform trajectory tracking with the input output feedback linearization method. Simulations are presented to show the availability of our approach.