Model identification of a four wheeled omni-directional Mobile Robot

• Type: Article in International Conference Proceedings Book
• Date: 2006

Authors

António Paulo Moreira (Author) FEUP; Paulo J. Costa (Author) FEUP; André Scolari Conceição (Author) Other

Conference proceedings International

Title: CONTROLO 2006

Pages: 1-6

7th Portuguese Conference on Automatic Control

Lisboa, Portugal, 11 a 13 de Setembro de 2006

Scientific classification

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

Other information

Abstract (EN): : This paper presents the experimental dynamic parameters identification of an omni-directional mobile robot with four wheels. Three methods of parameters identification related to dynamic equations are described, the parameters are the viscous frictions, the coulomb frictions and the inertia moment of the robot. A simulation environment, simulation results and real results are presented.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6