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DYNAMICAL MODELS FOR OMNI-DIRECTIONAL ROBOTS WITH
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@MISC{Oliveira_dynamicalmodels,
author = {Hélder P. Oliveira and O J. Sousa and A. Paulo Moreira and Paulo J. Costa},
title = {DYNAMICAL MODELS FOR OMNI-DIRECTIONAL ROBOTS WITH},
year = {}
}
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Abstract
Identification, simulation, modeling and omni-directional mobile robots. 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. 1
Keyphrases
dynamical model omni-directional robot frequent application recent robotic application robotic competition robot behavior real world omni-directional robot configuration presented work increased complexity experimental run omni-directional mobile robot service robotics omni-directional robot improved ease precise dynamical model
