| contributor author | Karim A. Tahboub | |
| contributor author | Harry H. Asada | |
| date accessioned | 2017-05-09T00:07:07Z | |
| date available | 2017-05-09T00:07:07Z | |
| date copyright | March, 2002 | |
| date issued | 2002 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26296#118_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/126548 | |
| description abstract | This paper presents kinematic and dynamic analysis of a holonomic vehicle with continuously-variable transmission. Four ball wheels, independently actuated by DC motors, enable for moving the vehicle in any direction within the plane and rotating it around its center. The angle between the two beams holding the balls can be changed to alter the gear ratio and other dynamic characteristics of the vehicle. This feature is exploited in augmenting the vehicle stability, optimizing output power, selecting an appropriate gear ratio, and in impedance matching. A simple adaptive friction-compensation-based controller is proposed to handle the complex friction properties. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Dynamics Analysis and Control of a Holonomic Vehicle With a Continuously Variable Transmission | |
| type | Journal Paper | |
| journal volume | 124 | |
| journal issue | 1 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.1434270 | |
| journal fristpage | 118 | |
| journal lastpage | 126 | |
| identifier eissn | 1528-9028 | |
| keywords | Friction | |
| keywords | Vehicles | |
| keywords | Force | |
| keywords | Dynamics (Mechanics) | |
| keywords | Motion | |
| keywords | Gears | |
| keywords | Engines AND Torque | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;2002:;volume( 124 ):;issue: 001 | |
| contenttype | Fulltext | |