A passive multiple trailer system for indoor service robots

It is shown how a passive multiple trailer system is designed and controlled for practical applications. The main focus is reducing the trajectory tracking error and the scope of the paper is limited to the passive systems due to the cost and simplicity of the trailer mechanism. Three kinds of passi...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Jaehyoung Lee, Woojin Chung, Munsang Kim, Chongwon Lee, Jeabok-Song
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Control systems Costs Mechanical systems Open loop systems Performance analysis Robot kinematics Service robots Stability Trajectory Transportation
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