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

Bibliographic Details
Main Author: A. Paulo Moreira
Publication Date: 2005
Other Authors: Paulo J. Costa, André Scolari Conceição
Format: Book
Language: eng
Source: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Download full: https://repositorio-aberto.up.pt/handle/10216/73662
Summary: 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:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiainstacron:RCAAP2025-02-27T19:35:48Zoai:repositorio-aberto.up.pt:10216/73662Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-28T23:24:39.048498Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiafalse
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:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron:RCAAP
instname_str FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron_str RCAAP
institution RCAAP
reponame_str Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
collection Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
repository.name.fl_str_mv Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
repository.mail.fl_str_mv info@rcaap.pt
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