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Model identification of a four wheeled omni-directional Mobile Robot

Title
Model identification of a four wheeled omni-directional Mobile Robot
Type
Article in International Conference Proceedings Book
Year
2006
Authors
Paulo J. Costa
(Author)
FEUP
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André Scolari Conceição
(Author)
Other
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Conference proceedings International
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
License type: Click to view license CC BY-NC
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5_3_30_controlo2006_model Model identification of a four wheeled omni-directional Mobile Robot 299.83 KB
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