Practical construction and position control of a modular actuated holonomic wheeled mobile robot
The presented work is related to previous development of the holonomic wheeled mobile robot C3P. This paper focuses on the platform implementation and the kinematics/dynamics solutions used for its position control structure. The platform prototype is proposed in detailed description concerning its...
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| Main Authors: | , , |
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| Format: | Chapter/Article Conference Paper |
| Language: | English |
| Published: |
2008
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| In: |
IEEE International Conference on Robotics and Automation, 2008
Year: 2008, Pages: 1672-1677 |
| DOI: | 10.1109/ROBOT.2008.4543441 |
| Online Access: | Verlag, Volltext: https://ieeexplore.ieee.org/document/4543441 Verlag, Volltext: https://doi.org/10.1109/ROBOT.2008.4543441 
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| Author Notes: | Ahmed El-Shenawy, Achim Wagner, Essam Badreddinhmed |
| Summary: | The presented work is related to previous development of the holonomic wheeled mobile robot C3P. This paper focuses on the platform implementation and the kinematics/dynamics solutions used for its position control structure. The platform prototype is proposed in detailed description concerning its construction and configuration. A controller based on feed forwarding the inverse dynamics torques with the inverse kinematics to overcome the platform singularities is proposed. The based controllers practical experiments results illustrate the position controller performance and its efficiency. |
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| Item Description: | Gesehen am 17.06.2019 |
| Physical Description: | Online Resource |
| ISBN: | 9781424416462 1424416477 1424416469 9781424416479 |
| DOI: | 10.1109/ROBOT.2008.4543441 |