Dynamic model and control for a holonomic omnidirectional mobile robot

Takaaki Yamada, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi

研究成果: Contribution to journalArticle査読

17 被引用数 (Scopus)

抄録

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.

本文言語英語
ページ(範囲)173-189
ページ数17
ジャーナルAutonomous Robots
11
2
DOI
出版ステータス出版済み - 9 1 2001
外部発表はい

All Science Journal Classification (ASJC) codes

  • 人工知能

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