Architecture control and model identification of a omni-directional mobile robot

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2005

Autores

A. Paulo Moreira (Autor) FEUP; Paulo J. Costa (Autor) FEUP; André Scolari Conceição (Autor) FEUP

Ata de Conferência Internacional

Título: 2005 PORTUGUESE CONFERENCE ON ARTIFICIAL INTELLIGENCE, PROCEEDINGS

Páginas: 247-251

Portuguese Conference on Artificial Intelligence

Covilha, PORTUGAL, 2005

Indexação

ISI Web of Knowledge - 2 Citações

ISI Web of Science

INSPEC

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

CORDIS: Ciências Tecnológicas > Engenharia > Engenharia de controlo > Robótica

Outras Informações

ID Authenticus: P-000-74V

DOI: 10.1109/epia.2005.341223

Abstract (EN): This paper presents a architecture control and model identification of a onmi-Directional Mobile Robot It is divided into the three stages. Stage one proposes a procedure for dynamic model identification and control of the "motor + reduction + encoder" process of the Robot's Motors. Second, proposes the identification of a dynamic model for the whole mobile robot considering it as a multi-variable system. Third, presents a algorithm for perfect trajectory tracking of Omni-Directional Mobile Robots, based on restriction on motor's velocities. This algorithm combines the restriction on motor's velocities and the kinematic model of mobile robot to generate ideal drive velocities for the mobile robot to follow the trajectories correctly with the best possible performance.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 5