DYNAMIC PARAMETERS IDENTIFICATION OF AN OMNI-DIRECTIONAL MOBILE ROBOT

André Scolari Conceição, A. Paulo Moreira, Paulo J. Costa

Abstract

This paper presents the experimental dynamic parameters identification of an omni-directional mobile robot with four wheels. Three methods of parameters identification related to dynamic equations are described, the parameters are the viscous frictions, the coulomb frictions and the inertia moment of the robot. A simulation environment, simulation results and real results are presented.

References

  1. Franklin, G. F., Powell, J., and Workman, M. (1997). Digital control of dynamic systems. Addison Weley Longman, Inc, 3 edition.
  2. Liu, Y., Wu, X., Zhu, J. J., and Lew, J. (2003). Omnidirectional mobile robot controller design by trajectory linearization. Proceedings of the American Control Conference, 4:3423 - 3428.
  3. Mathworks, T. (2000). MATLAB Users' Guide.
  4. Watanabe, K. (1998). Control of ominidirectional mobile robot. 2nd Int. Conf. on Knowledge-Based Intelligent Electronic Systems.
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Paper Citation


in Harvard Style

Conceição A., Moreira A. and Costa P. (2006). DYNAMIC PARAMETERS IDENTIFICATION OF AN OMNI-DIRECTIONAL MOBILE ROBOT . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 565-570. DOI: 10.5220/0001220805650570


in Bibtex Style

@conference{icinco06,
author={André Scolari Conceição and A. Paulo Moreira and Paulo J. Costa},
title={DYNAMIC PARAMETERS IDENTIFICATION OF AN OMNI-DIRECTIONAL MOBILE ROBOT},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={565-570},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001220805650570},
isbn={978-972-8865-60-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - DYNAMIC PARAMETERS IDENTIFICATION OF AN OMNI-DIRECTIONAL MOBILE ROBOT
SN - 978-972-8865-60-3
AU - Conceição A.
AU - Moreira A.
AU - Costa P.
PY - 2006
SP - 565
EP - 570
DO - 10.5220/0001220805650570