Dynamic model and control for a holonomic omnidirectional mobile robot

Takaaki Yamada; Keigo Watanabe; Kazuo Kiguchi; Kiyotaka Izumi

doi:10.1023/A:1011231327794

Dynamic model and control for a holonomic omnidirectional mobile robot

Takaaki Yamada, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi

Research output: Contribution to journal › Article › peer-review

9 Citations (Scopus)

Abstract

In the recent past, mobile robots with high mobility have been developed actively. We have already proposed a holonomic and omnidirectional mobile robot using two active dual-wheel caster assemblies and also derived the kinematic models for the assembly and the mobile robot. This paper presents dynamic analysis and control for the mobile robot. The dynamic model has been derived based on the forces acting on the steering axis. Then a model-based resolved acceleration controller is constructed. The validity of the model and the effectiveness of the control system are confirmed by experiments using a prototype robot as well as simulations.

Original language	English
Pages (from-to)	173-189
Number of pages	17
Journal	Autonomous Robots
Volume	11
Issue number	2
DOIs	https://doi.org/10.1023/A:1011231327794
Publication status	Published - Sept 1 2001
Externally published	Yes

All Science Journal Classification (ASJC) codes

Artificial Intelligence

Access to Document

10.1023/A:1011231327794

Cite this

@article{7ba1bbc496464bf5808a5c9d2808ba88,

title = "Dynamic model and control for a holonomic omnidirectional mobile robot",

abstract = "In the recent past, mobile robots with high mobility have been developed actively. We have already proposed a holonomic and omnidirectional mobile robot using two active dual-wheel caster assemblies and also derived the kinematic models for the assembly and the mobile robot. This paper presents dynamic analysis and control for the mobile robot. The dynamic model has been derived based on the forces acting on the steering axis. Then a model-based resolved acceleration controller is constructed. The validity of the model and the effectiveness of the control system are confirmed by experiments using a prototype robot as well as simulations.",

author = "Takaaki Yamada and Keigo Watanabe and Kazuo Kiguchi and Kiyotaka Izumi",

year = "2001",

month = sep,

day = "1",

doi = "10.1023/A:1011231327794",

language = "English",

volume = "11",

pages = "173--189",

journal = "Autonomous Robots",

issn = "0929-5593",

publisher = "Springer Netherlands",

number = "2",

}

TY - JOUR

T1 - Dynamic model and control for a holonomic omnidirectional mobile robot

AU - Yamada, Takaaki

AU - Watanabe, Keigo

AU - Kiguchi, Kazuo

AU - Izumi, Kiyotaka

PY - 2001/9/1

Y1 - 2001/9/1

N2 - In the recent past, mobile robots with high mobility have been developed actively. We have already proposed a holonomic and omnidirectional mobile robot using two active dual-wheel caster assemblies and also derived the kinematic models for the assembly and the mobile robot. This paper presents dynamic analysis and control for the mobile robot. The dynamic model has been derived based on the forces acting on the steering axis. Then a model-based resolved acceleration controller is constructed. The validity of the model and the effectiveness of the control system are confirmed by experiments using a prototype robot as well as simulations.

AB - In the recent past, mobile robots with high mobility have been developed actively. We have already proposed a holonomic and omnidirectional mobile robot using two active dual-wheel caster assemblies and also derived the kinematic models for the assembly and the mobile robot. This paper presents dynamic analysis and control for the mobile robot. The dynamic model has been derived based on the forces acting on the steering axis. Then a model-based resolved acceleration controller is constructed. The validity of the model and the effectiveness of the control system are confirmed by experiments using a prototype robot as well as simulations.

UR - http://www.scopus.com/inward/record.url?scp=0035446501&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0035446501&partnerID=8YFLogxK

U2 - 10.1023/A:1011231327794

DO - 10.1023/A:1011231327794

M3 - Article

AN - SCOPUS:0035446501

SN - 0929-5593

VL - 11

SP - 173

EP - 189

JO - Autonomous Robots

JF - Autonomous Robots

IS - 2

ER -

Dynamic model and control for a holonomic omnidirectional mobile robot

Abstract

All Science Journal Classification (ASJC) codes

Access to Document

Other files and links

Fingerprint

Cite this