Practical construction and position control of a modular actuated holonomic wheeled mobile robot

• Verfasst von: Shenawy, Ahmed el- [VerfasserIn]
• Verfasst von: Wagner, Achim [VerfasserIn]
• Verfasst von: Badreddin, Essameddin [VerfasserIn]
• Titel: Practical construction and position control of a modular actuated holonomic wheeled mobile robot
• Verf.angabe: Ahmed El-Shenawy, Achim Wagner, Essam Badreddinhmed
• Jahr: 2008
• Umfang: 6 S.
• Fussnoten: Gesehen am 17.06.2019
• Titel Quelle: Enthalten in: IEEE International Conference on Robotics and Automation, 2008
• Ort Quelle: Piscataway, NJ : IEEE, 2008
• Jahr Quelle: 2008
• Band/Heft Quelle: (2008), Seite 1672-1677
• ISBN Quelle: 978-1-4244-1646-2
• ISBN Quelle: 1-4244-1647-7
• ISBN Quelle: 1-4244-1646-9
• ISBN Quelle: 978-1-4244-1647-9
• ISBN Quelle: 978-1-4244-1646-2
• DOI: doi:10.1109/ROBOT.2008.4543441
• Datenträger: Online-Ressource
• Sprache: eng
• K10plus-PPN: 1667532545

Abstract

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.