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Design of a Mobile Robot for RoboCup Middle Size League

Title
Design of a Mobile Robot for RoboCup Middle Size League
Type
Article in International Conference Proceedings Book
Year
2009
Authors
Conceicao, AS
(Author)
Other
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Paulo Gomes da Costa
(Author)
FEUP
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Conference proceedings International
Pages: 1-6
6th Latin American Robotics Symposium
Valparaiso, CHILE, OCT 29-30, 2009
Other information
Authenticus ID: P-007-SZ0
Abstract (EN): This article presents a design of a four-wheeled omnidirectional mobile robot for RoboCup Middle Size League. The mobile robot was built for the 5dpo-2000 Robotic Soccer team from the Department of Electrical and Computer Engineering at the University of Porto, Portugal. The robot's architecture and communication structure are presented. A nonlinear modeling and a motion analysis based on the dynamics, kinematics, and DC motors are analyzed. This model could find the nonlinear saturation elements, such as limits of current of the motors, amplitude of the applied voltage in the motors, and frictions related to equation of motion. Simulation results are provided to demonstrate the performance of the proposed project.
Language: English
Type (Professor's evaluation): Scientific
No. of pages: 6
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