Dynamical models for omni-directional robots with 3 and 4 wheels

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2008

Autores

Oliveira, HP (Autor) FEUP; Armando Jorge Sousa (Autor) FEUP; António Paulo Moreira (Autor) FEUP; Paulo Gomes da Costa (Autor) FEUP

Ata de Conferência Internacional

Título: ICINCO 2008: PROCEEDINGS OF THE FIFTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-2: ROBOTICS AND AUTOMATION, VOL 2

Páginas: 189-196

5th International Conference on Informatics in Control, Automation and Robotics

Funchal, PORTUGAL, MAY 11-15, 2008

Indexação

ISI Web of Knowledge - 13 Citações

Scopus - 25 Citações

Outras Informações

ID Authenticus: P-004-3FC

Abstract (EN): Omni-directional robots are becoming more and more common in recent robotic applications. They offer improved ease of maneuverability and effectiveness at the expense of increased complexity. Frequent applications include but are not limited to robotic competitions and service robotics. The goal of this work is to find a precise dynamical model in order to predict the robot behavior. Models were found for two real world omni-directional robot configurations and their parameters estimated using a prototype that can have 3 or 4 wheels. Simulations and experimental runs are presented in order to validate the presented work.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 8