Precise modeling of a four wheeled omni-directional robot

• Type: Article in International Conference Proceedings Book
• Date: 2008

Authors

Hélder Filipe Pinto de Oliveira (Author) FEUP; Armando Jorge Miranda de Sousa (Author) FEUP; António Paulo Gomes Mendes Moreira (Author) FEUP; Paulo José Cerqueira Gomes da Costa (Author) FEUP

Conference proceedings International

Title: Proceedings of the 8th Conference on Autonomous Robot Systems and Competitions

Pages: 57-62

Aveiro, Portugal, 2 de Abril de 2008

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

CORDIS: Technological sciences > Engineering > Control engineering > Robótica Robotics

Other information

Abstract (EN): Recent applications in Autonomous Robotics are becoming more demanding every day. Modern Mobile Robots use Omni-Directional locomotion in order to achieve additional maneuverability and efficiency. These features are gained at the expense of increased mechanical complexity and increased complexity in control. Demanding applications require precise dynamical model in order to allow for precise locomotion. Dynamical Models are also essential to study limitations of current mechanical configurations and to allow for future enhancements both at controllers level and at mechanical configuration level. The presented work finds a precise dynamical model for a 4 wheeled omni-directional robot and a prototype is used for validation. Simulations and real experimental runs are shown and the adequacy of the model is discussed.

Language: English

Type (Professor's evaluation): Scientific