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    Robust Dynamic Modeling and Trajectory Tracking Controller of a Universal OmniWheeled Mobile Robot

    Source: ASME Letters in Dynamic Systems and Control:;2022:;volume( 002 ):;issue: 004::page 40902
    Author:
    Amarasiri, Nalaka;Barhorst, Alan A.;Gottumukkala, Raju
    DOI: 10.1115/1.4055690
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: Omnidirectional mobile robots are widely used in studies and services as they are effective and efficient in moving in any direction regardless of their current orientation. These significant properties are very useful in energyefficient navigation and obstacle avoidance in dynamic environments. The literature on modeling and control of omniwheel robots usually relies on the kinematic model or simplified kinematic model. Then developing control laws based on these reducedeffect models. In this article, we developed an efficient full dynamic model of a nonholonomic omniwheel robot, including roller dynamics. That allows for a proportional–integral–derivative control law to accurately follow arbitrary paths. Kane’s approach was used for the dynamic model derivation. Kinematic modeling is less complex than multibody dynamic modeling. But to have an accurate simulation of the realistic motions of a mechanical system, the multibody dynamic model is required.
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      Robust Dynamic Modeling and Trajectory Tracking Controller of a Universal OmniWheeled Mobile Robot

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    contributor authorAmarasiri, Nalaka;Barhorst, Alan A.;Gottumukkala, Raju
    date accessioned2023-04-06T13:03:58Z
    date available2023-04-06T13:03:58Z
    date copyright10/19/2022 12:00:00 AM
    date issued2022
    identifier issn26896117
    identifier otheraldsc_2_4_040902.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4289012
    description abstractOmnidirectional mobile robots are widely used in studies and services as they are effective and efficient in moving in any direction regardless of their current orientation. These significant properties are very useful in energyefficient navigation and obstacle avoidance in dynamic environments. The literature on modeling and control of omniwheel robots usually relies on the kinematic model or simplified kinematic model. Then developing control laws based on these reducedeffect models. In this article, we developed an efficient full dynamic model of a nonholonomic omniwheel robot, including roller dynamics. That allows for a proportional–integral–derivative control law to accurately follow arbitrary paths. Kane’s approach was used for the dynamic model derivation. Kinematic modeling is less complex than multibody dynamic modeling. But to have an accurate simulation of the realistic motions of a mechanical system, the multibody dynamic model is required.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleRobust Dynamic Modeling and Trajectory Tracking Controller of a Universal OmniWheeled Mobile Robot
    typeJournal Paper
    journal volume2
    journal issue4
    journal titleASME Letters in Dynamic Systems and Control
    identifier doi10.1115/1.4055690
    journal fristpage40902
    journal lastpage4090213
    page13
    treeASME Letters in Dynamic Systems and Control:;2022:;volume( 002 ):;issue: 004
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian