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...
Gespeichert in:
| Hauptverfasser: | , , |
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| Dokumenttyp: | Kapitel/Artikel Konferenzschrift |
| Sprache: | Englisch |
| Veröffentlicht: |
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-Zugang: | Verlag, Volltext: https://ieeexplore.ieee.org/document/4543441 Verlag, Volltext: https://doi.org/10.1109/ROBOT.2008.4543441 
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| Verfasserangaben: | Ahmed El-Shenawy, Achim Wagner, Essam Badreddinhmed |
| Zusammenfassung: | 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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| Beschreibung: | Gesehen am 17.06.2019 |
| Beschreibung: | Online Resource |
| ISBN: | 9781424416462 1424416477 1424416469 9781424416479 |
| DOI: | 10.1109/ROBOT.2008.4543441 |