Sökning: "Differentialdrift"

Hittade 2 uppsatser innehållade ordet Differentialdrift.

1. 1. A Comparative Study of Omnidirectional and Differential Drive Systems for Mobile Manipulator Robots : A Performance Review of Strengths and Weaknesses

   Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Författare :Rebecka Vestman; [2023]
   Nyckelord :Omnidirectional drive; differential drive; mobile manipulator; mobile platform drive; drive mechanism comparison; holonomic mobile manipulator; non-holonomic mobile manipulator; Omnidirektionell drift; Differentialdrift; Mobil manipulator; Mobil plattformsdift; Jämförelse av drivmekanismer; Holonomisk mobil manipulator; Icke-holonomisk mobil manipulator;

   Sammanfattning : This thesis investigates the strengths and weaknesses of omnidirectional drive and differential drive systems on mobile manipulator robots. Based on a literature study, a hypothetical use case, and identified Key Performace Indicators the drive system’s effects on the performance of the mobile manipulator are evaluated. LÄS MER

3. 2. MPC based Caster Wheel Aware Motion Planning for Differential Drive Robots

   Master-uppsats, KTH/Mekatronik

   Författare :Jon Arrizabalaga Aguirregomezcorta; [2020]
   Nyckelord :Mobile robots; differential drive; caster wheels; motion planning; MPC; Mobila robotar; differentiell drivning; hjul; rörelseplanering; MPC;

   Sammanfattning : The inherited rotation in a caster wheel allows movement in any direction, but pays at the expense of reaction torques. When implemented in a mobile robot, these forces have a negative impact in its performance. One approach is to restrict rotations on the spot by attaching a filter to the output of the motion planner. LÄS MER