Architecture control and model identification of a omni-directional mobile robot

Detalhes bibliográficos
Autor(a) principal: A. Paulo Moreira
Data de Publicação: 2005
Outros Autores: Paulo J. Costa, André Scolari Conceição
Tipo de documento: Livro
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: https://repositorio-aberto.up.pt/handle/10216/73662
Resumo: This paper presents a architecture control and model identification of a onmi-Directional Mobile Robot It is divided into the three stages. Stage one proposes a procedure for dynamic model identification and control of the "motor + reduction + encoder" process of the Robot's Motors. Second, proposes the identification of a dynamic model for the whole mobile robot considering it as a multi-variable system. Third, presents a algorithm for perfect trajectory tracking of Omni-Directional Mobile Robots, based on restriction on motor's velocities. This algorithm combines the restriction on motor's velocities and the kinematic model of mobile robot to generate ideal drive velocities for the mobile robot to follow the trajectories correctly with the best possible performance.
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spelling Architecture control and model identification of a omni-directional mobile robotRobótica, Engenharia electrotécnica, electrónica e informáticaRobótica Robotics, Electrical engineering, Electronic engineering, Information engineeringThis paper presents a architecture control and model identification of a onmi-Directional Mobile Robot It is divided into the three stages. Stage one proposes a procedure for dynamic model identification and control of the "motor + reduction + encoder" process of the Robot's Motors. Second, proposes the identification of a dynamic model for the whole mobile robot considering it as a multi-variable system. Third, presents a algorithm for perfect trajectory tracking of Omni-Directional Mobile Robots, based on restriction on motor's velocities. This algorithm combines the restriction on motor's velocities and the kinematic model of mobile robot to generate ideal drive velocities for the mobile robot to follow the trajectories correctly with the best possible performance.20052005-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/bookapplication/pdfhttps://repositorio-aberto.up.pt/handle/10216/73662eng10.1109/epia.2005.341223A. Paulo MoreiraPaulo J. CostaAndré Scolari Conceiçãoinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-29T15:13:00Zoai:repositorio-aberto.up.pt:10216/73662Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T00:18:12.685696Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Architecture control and model identification of a omni-directional mobile robot
title Architecture control and model identification of a omni-directional mobile robot
spellingShingle Architecture control and model identification of a omni-directional mobile robot
A. Paulo Moreira
Robótica, Engenharia electrotécnica, electrónica e informática
Robótica Robotics, Electrical engineering, Electronic engineering, Information engineering
title_short Architecture control and model identification of a omni-directional mobile robot
title_full Architecture control and model identification of a omni-directional mobile robot
title_fullStr Architecture control and model identification of a omni-directional mobile robot
title_full_unstemmed Architecture control and model identification of a omni-directional mobile robot
title_sort Architecture control and model identification of a omni-directional mobile robot
author A. Paulo Moreira
author_facet A. Paulo Moreira
Paulo J. Costa
André Scolari Conceição
author_role author
author2 Paulo J. Costa
André Scolari Conceição
author2_role author
author
dc.contributor.author.fl_str_mv A. Paulo Moreira
Paulo J. Costa
André Scolari Conceição
dc.subject.por.fl_str_mv Robótica, Engenharia electrotécnica, electrónica e informática
Robótica Robotics, Electrical engineering, Electronic engineering, Information engineering
topic Robótica, Engenharia electrotécnica, electrónica e informática
Robótica Robotics, Electrical engineering, Electronic engineering, Information engineering
description This paper presents a architecture control and model identification of a onmi-Directional Mobile Robot It is divided into the three stages. Stage one proposes a procedure for dynamic model identification and control of the "motor + reduction + encoder" process of the Robot's Motors. Second, proposes the identification of a dynamic model for the whole mobile robot considering it as a multi-variable system. Third, presents a algorithm for perfect trajectory tracking of Omni-Directional Mobile Robots, based on restriction on motor's velocities. This algorithm combines the restriction on motor's velocities and the kinematic model of mobile robot to generate ideal drive velocities for the mobile robot to follow the trajectories correctly with the best possible performance.
publishDate 2005
dc.date.none.fl_str_mv 2005
2005-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/book
format book
status_str publishedVersion
dc.identifier.uri.fl_str_mv https://repositorio-aberto.up.pt/handle/10216/73662
url https://repositorio-aberto.up.pt/handle/10216/73662
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1109/epia.2005.341223
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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