Dynamics and Controller Design of a Screw Wheel Drive Holonomic Rescue Robot


Kececi E. F.

ASME International Mechanical Engineering Congress and Exposition, Texas, United States Of America, 9 - 15 November 2012, pp.231-238 identifier

  • Publication Type: Conference Paper / Full Text
  • City: Texas
  • Country: United States Of America
  • Page Numbers: pp.231-238

Abstract

This paper reports a holonomic rescue robot where the robot is driven by screw wheels. The necessity of a such platform is explained and the mechanical design and the actual prototype are presented. In order to design an adaptive control algorithm to ensure the trajectory tracking, the dynamical model is constructed. The stability of the adaptive control algorithm is proven with Lyapunov stability analysis. The necessary electronics to implement the controller algorithm is explained and the conclusions and future work section reports the results of the study as well as the future research directions.