KINEMATICS AND DYNAMICS ANALYSIS FOR A HOLONOMIC WHEELED MOBILE ROBOT

Ahmed El-Shenawy, Achim Wagner, Essam Badreddin

Abstract

This paper presents the kinematics and the dynamics analysis of the holonomic mobile robot C3P. The robot has three caster wheels with modular wheel angular velocities actuation. The forward dynamics model which is used during the simulation process is discussed along with the robot inverse dynamics solution. The inverse dynamics solution is used to overcome the singularity problem, which is observed from the kinematic modeling. Since both models are different in principle they are analyzed using simulation examples to show the effect of the actuated and non actuated wheel velocities on the robot response. An experiment is used to illustrate the performance of the inverse dynamic solution practically.

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Paper Citation


in Harvard Style

El-Shenawy A., Wagner A. and Badreddin E. (2007). KINEMATICS AND DYNAMICS ANALYSIS FOR A HOLONOMIC WHEELED MOBILE ROBOT . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 485-491. DOI: 10.5220/0001650404850491


in Bibtex Style

@conference{icinco07,
author={Ahmed El-Shenawy and Achim Wagner and Essam Badreddin},
title={KINEMATICS AND DYNAMICS ANALYSIS FOR A HOLONOMIC WHEELED MOBILE ROBOT},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={485-491},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001650404850491},
isbn={978-972-8865-83-2},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - KINEMATICS AND DYNAMICS ANALYSIS FOR A HOLONOMIC WHEELED MOBILE ROBOT
SN - 978-972-8865-83-2
AU - El-Shenawy A.
AU - Wagner A.
AU - Badreddin E.
PY - 2007
SP - 485
EP - 491
DO - 10.5220/0001650404850491