Design of a Mobile Robot for RoboCup Middle Size League

• Type: Article in International Conference Proceedings Book
• Date: 2009

Authors

Conceicao, AS (Author) Other; António Paulo Moreira (Author) FEUP; Paulo Gomes da Costa (Author) FEUP

Conference proceedings International

Title: 2009 6TH LATIN AMERICAN ROBOTICS SYMPOSIUM

Pages: 1-6

6th Latin American Robotics Symposium

Valparaiso, CHILE, OCT 29-30, 2009

Indexing

ISI Web of Knowledge - 5 Citations

Scopus - 6 Citations

Other information

Authenticus ID: P-007-SZ0

DOI: 10.1109/lars.2009.5418331

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