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

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

Authors

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

Conference proceedings International

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

Pages: 189-196

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

Funchal, PORTUGAL, MAY 11-15, 2008

Indexing

ISI Web of Knowledge - 13 Citations

Scopus - 25 Citations

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 8