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Proceedings Paper

An amendatory dynamic model with slip for four-wheeled omni-directional mobile robot
Author(s): Qixin Cao; Yanwen Huang; Chuntao Leng
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Paper Abstract

Compared with the common differential driving ones, omni-directional mobile robots (OMRs) have more agilely locomotion performance, which therefore have been applied in many fields. One kind of four-wheeled OMR used in RoboCup Middle Size League competition is presented in this paper. Its kinematics and dynamic model is introduced. And considering the independent drive of four wheels which creates inevitable slipping in motion, the amendatory dynamics model that includes slipping between the wheels and the motion surface is presented. Based on the above slipping model, the velocity feedback PID controller implemented by DSP as the kernel is also given here. Experiments results demonstrate the feasibility of the dynamic model and controller.

Paper Details

Date Published: 9 January 2008
PDF: 6 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67945G (9 January 2008); doi: 10.1117/12.784206
Show Author Affiliations
Qixin Cao, Shanghai Jiaotong Univ. (China)
Yanwen Huang, Shanghai Jiaotong Univ. (China)
Chuntao Leng, Shanghai Jiaotong Univ. (China)

Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials
Minoru Sasaki; Gisang Choi Sang; Zushu Li; Ryojun Ikeura; Hyungki Kim; Fangzheng Xue, Editor(s)

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