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Authors: Seyed Mohsen Safavi ; Mohammad Ajoodanian and Ahmad movahedian

Affiliation: Isfahan University Of Technologhy (IUT), Iran, Islamic Republic of

Keyword(s): Holonomic Omnidirectional mobile robot; Asymmetrical Structure.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation ; Vehicle Control Applications

Abstract: This paper describes how to control an asymmetric wheeled mobile robot with omnidirectional wheels, considering the sample of a robot with three wheels. When flexible motion capabilities are required this robot must be designed to meet the related requirements, namely fast and agile motions as well as robust navigation. This paper provides an overview for the design of kinematics and dynamics of the robot, as well as the motion and velocities equations. In addition to the above, a control method to obtain a proper control model is explained. Simulation example is presented to demonstrate the ability of this control method. The implementation and test of the controller on the real robot gives the results compatible with the simulation. It was learned that the discontinuities between omnidirectional wheels’ rollers play an important role in decreasing the accuracy of motion.

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Paper citation in several formats:
Mohsen Safavi, S.; Ajoodanian, M. and movahedian, A. (2005). CONTROL OF AN ASYMMETRICAL OMNI DIRECTIONAL MOBILE ROBOT. In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 972-8865-30-9; ISSN 2184-2809, SciTePress, pages 120-125. DOI: 10.5220/0001188501200125

@conference{icinco05,
author={Seyed {Mohsen Safavi}. and Mohammad Ajoodanian. and Ahmad movahedian.},
title={CONTROL OF AN ASYMMETRICAL OMNI DIRECTIONAL MOBILE ROBOT},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2005},
pages={120-125},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001188501200125},
isbn={972-8865-30-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - CONTROL OF AN ASYMMETRICAL OMNI DIRECTIONAL MOBILE ROBOT
SN - 972-8865-30-9
IS - 2184-2809
AU - Mohsen Safavi, S.
AU - Ajoodanian, M.
AU - movahedian, A.
PY - 2005
SP - 120
EP - 125
DO - 10.5220/0001188501200125
PB - SciTePress

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