作者: Hubert Gattringer , Andreas Müller , Florian Pucher
DOI: 10.1016/J.IFACOL.2020.12.1435
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摘要: Abstract In process automation of logistic systems autonomous mobile platforms play an important role with high demands on flexibility and maneuverability. Limited space can be a restriction for non-omnidirectional vehicles. this paper quasi-omnidirectional platform is considered which switch between four different motion-modes: wheel alignment in standstill, car-like steered longitudinal motion, lateral motion pure rotation. With the requirement carrying heavy payloads, feed-forward control becomes part concept. This presents approach parameter identification motion-mode-changing system. The equations are formulated using redundantly parameterized model, linear inertia friction parameters. For each motion-mode kinematic model used elimination constraint forces. Not all parameters identified every configuration. main idea to use combination simple vehicle movements process. dynamic then validated more complex movement where needed configuration has not been identification. Experimental results prototype shown.