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

17 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 2001
Externally published	Yes

Keywords

Active dual-wheel caster assembly
Dynamic model
Holonomic property
Omnidirectional mobile robot
Resolved acceleration control

ASJC Scopus subject areas

Artificial Intelligence

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10.1023/A:1011231327794

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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.

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KW - Resolved acceleration control

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Dynamic model and control for a holonomic omnidirectional mobile robot

Abstract

Keywords

ASJC Scopus subject areas

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