Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 315-330 |
| Number of pages | 16 |
| Journal | Journal of Intelligent and Robotic Systems: Theory and Applications |
| Volume | 22 |
| Issue number | 3-4 |
| Publication status | Published - Dec 1 1998 |
| Externally published | Yes |
Keywords
- Holonomic robot
- Mobile service robot
- Omnidirectional mobile platform
- Omnidirectional mobile robot
- Omnidirectional-robot dynamic model
- Resolved acceleration feedback control
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Mechanical Engineering
- Industrial and Manufacturing Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering