首页>
外国专利>
Mobile robot having friction coefficient estimation function and friction coefficient estimation method
Mobile robot having friction coefficient estimation function and friction coefficient estimation method
展开▼
机译:具有摩擦系数估计功能的移动机器人和摩擦系数估计方法
展开▼
页面导航
摘要
著录项
相似文献
摘要
A mobile robot configured to move on a ground. The mobile robot including a contact angle estimation unit estimating contact angles between wheels of the mobile robot and the ground and uncertainties associated with the contact angles, a traction force estimation unit estimating traction forces applied to the wheels and traction force uncertainties, a normal force estimation unit estimating normal forces applied to the wheels and normal force uncertainties, a friction coefficient estimation unit estimating friction coefficients between the wheels and the ground, a friction coefficient uncertainty estimation unit estimating friction coefficient uncertainties, and a controller determining the maximum friction coefficient from among the friction coefficients such that the maximum friction coefficient has an uncertainty less than a threshold and at a point of time when the torque applied to each of the wheels changes from an increasing state to a decreasing state, among the estimated friction coefficients.
展开▼