Dynamic model and control for a holonomic omnidirectional mobile robot

Takaaki Yamada, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi

Research output: Contribution to journalArticle

16 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 languageEnglish
Pages (from-to)173-189
Number of pages17
JournalAutonomous Robots
Volume11
Issue number2
DOIs
Publication statusPublished - Sep 1 2001
Externally publishedYes

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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