DYNAMIC PARAMETERS IDENTIFICATION OF AN OMNI-DIRECTIONAL MOBILE ROBOT

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

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Paper

DYNAMIC PARAMETERS IDENTIFICATION OF AN OMNI-DIRECTIONAL MOBILE ROBOT

Topics: Mobile Robots and Autonomous Systems; Modeling, Simulation and Architectures

In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 565-570, 2006 , Setúbal, Portugal

Authors: André Scolari Conceição ; A. Paulo Moreira and Paulo J. Costa

Affiliation: University of Porto, Portugal

Keyword(s): Mobile robots, model and identification systems, simulations.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Modeling, Simulation and Architectures ; Robotics and Automation

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.

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Paper citation in several formats:

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 1: ICINCO; ISBN 978-972-8865-60-3; ISSN 2184-2809, SciTePress, pages 565-570. DOI: 10.5220/0001220805650570

@conference{icinco06,
author={André Scolari Concei\c{C}ão. 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 1: ICINCO},
year={2006},
pages={565-570},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001220805650570},
isbn={978-972-8865-60-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - DYNAMIC PARAMETERS IDENTIFICATION OF AN OMNI-DIRECTIONAL MOBILE ROBOT
SN - 978-972-8865-60-3
IS - 2184-2809
AU - Conceição, A.
AU - Moreira, A.
AU - Costa, P.
PY - 2006
SP - 565
EP - 570
DO - 10.5220/0001220805650570
PB - SciTePress