Multi-Layered Control of a Four-Degree-of-Freedom Mobile Robot with Compliant Linkage

This paper introduces a new approach to the design and control of a four-degree-of-freedom (4DOF) vehicle. This vehicle can travel sideways and it can negotiate tight turns easily. Existing 4DOF vehicles have been found difficult to control 2. The compliant linkage because of their overcon-strained nature. These difficulties As explained above, the key element in any workable MDOF translate into severe wheel slippage or jerky motion under design must be the provision of mechanical compliance certain driving conditions. [Borenstein, 1992]. One possible kinematic design for an MDOF

• Type: Conference
• Year: 1993
• Where: ICRA
• Authors: Johann Borenstein
• Keywords: ICRA 1993, Possible Kinematic Design, Robotics, Severe Wheel Slippage, Workable Mdof Translate