Dynamical models for omni-directional robots with 3 and 4 wheels

• Autor(es): Hélder Filipe Pinto de Oliveira ; Armando Jorge Miranda de Sousa ; António Paulo Gomes Mendes Moreira ; Paulo José Cerqueira Gomes da Costa
• Data: 2008
• Identificador Persistente: http://hdl.handle.net/10216/5566
• Origem: Repositório Aberto da Universidade do Porto
• Assunto(s): Ciências tecnológicas; Engenharia; Engenharia de controlo; Robótica
• Tipo de Documento: Documento de conferência
• Idioma: Inglês

Descrição

Omni-directional robots are becoming more and more common in recent robotic applications. They offer improved ease of maneuverability and effectiveness at the expense of increased complexity. Frequent applications include but are not limited to robotic competitions and service robotics. The goal of this work is to find a precise dynamical model in order to predict the robot behavior. Models were found for two real world omni-directional robot configurations and their parameters estimated using a prototype that can have 3 or 4 wheels. Simulations and experimental runs are presented in order to validate the presented work.