Dynamic Model and Control for a Holonomic Omnidirectional Mobile Robot View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2001-09

AUTHORS

Takaaki Yamada, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi

ABSTRACT

In the recent past, mobile robots with high mobility have been developed actively. We have already proposed a holonomic and omnidirectional mobile robot using two active dual-wheel caster assemblies and also derived the kinematic models for the assembly and the mobile robot. This paper presents dynamic analysis and control for the mobile robot. The dynamic model has been derived based on the forces acting on the steering axis. Then a model-based resolved acceleration controller is constructed. The validity of the model and the effectiveness of the control system are confirmed by experiments using a prototype robot as well as simulations. More... »

PAGES

173-189

Identifiers

URI

http://scigraph.springernature.com/pub.10.1023/a:1011231327794

DOI

http://dx.doi.org/10.1023/a:1011231327794

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1043048013


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