Feedback Control of an Omnidirectional Autonomous Platform for Mobile Service Robots

 
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1998 (EN)
Feedback Control of an Omnidirectional Autonomous Platform for Mobile Service Robots (EN)

Watanabe, K (EN)
Fukuda, T (EN)
Shiraishi, Y (EN)
Tzafestas, SG (EN)
Tang, J (EN)

N/A (EN)

This paper proposes a feedback control scheme for an omnidirectional holonomic autonomous platform, which is equipped with three lateral orthogonal-wheel assemblies. Firstly, the dynamic properties of the platform are studied, and a dynamic model suitable for the application of control is derived. The control scheme constructed is of the resolved-acceleration type, with PI and PD feedback. The control scheme was experimentally applied to an actual mobile robotic platform. The results obtained show that full omnidirectionality can be achieved with decoupled rotational and translational motions. Omnidirectionality is one of the principal requirements for mobile robots designed for health-care and other general-hospital services. (EN)

journalArticle

Health care (EN)
Holonomic robot (EN)
Robot applications (EN)
Omnidirectional autonomous platforms (EN)
Holonomic robots (EN)
Omnidirectional mobile platform (EN)
Omnidirectional mobile robot (EN)
Feedback control (EN)
Mobile robots (EN)
Omnidirectional-robot dynamic model (EN)
Two term control systems (EN)
Mobile service robot (EN)
Motion control (EN)
Resolved acceleration feedback control (EN)

Εθνικό Μετσόβιο Πολυτεχνείο (EL)
National Technical University of Athens (EN)

Journal of Intelligent and Robotic Systems: Theory and Applications (EN)

English

1998


KLUWER ACADEMIC PUBL (EN)



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