Trajectory Tracking of Omni-Directional Wheeled Opera Robot Based on Wavelet
As the perfect fusion of intelligent robotics and China's classic culture, Opera robots, two omni-directional wheeled robots were made in my research centre. They can smoothly fight with each other just as Opera actors. A novel trajectory tracking method based on robotic dynamics model and wavelet sampling theorem for Opera robot is proposed in this paper. The formula for calculating torque of each driving motor when the robot moves along spline curves is studied in detail. By experiment, the robot can be derived smoothly to track predetermined trajectory.
Daoguo Yang, Tianlong Gu, Huaiying Zhou, Jianmin Zeng and Zhengyi Jiang
P. Y. Liu et al., "Trajectory Tracking of Omni-Directional Wheeled Opera Robot Based on Wavelet", Advanced Materials Research, Vols. 201-203, pp. 1930-1934, 2011