loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Ahmed El-Shenawy ; Achim Wagner and Essam Badreddin

Affiliation: Computer Engineering, University of Mannheim, Germany

Keyword(s): Modeling, Robot Kinematics, Robot Dynamics, Analysis.

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

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.

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.135.195.249

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
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; ISSN 2184-2809, SciTePress, pages 485-491. DOI: 10.5220/0001650404850491

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - El-Shenawy, A.
AU - Wagner, A.
AU - Badreddin, E.
PY - 2007
SP - 485
EP - 491
DO - 10.5220/0001650404850491
PB - SciTePress

- Science and Technology Publications, Lda.
RESOURCES

Proceedings

Papers

Authors

Ontology

CONTACTS

Science and Technology Publications, Lda
Avenida de S. Francisco Xavier, Lote 7 Cv. C,
2900-616 Setúbal, Portugal.

Phone: +351 265 520 185 (National fixed network call)
Fax: +351 265 520 186
Email: info@scitepress.org

EXTERNAL LINKS

PRIMORIS

INSTICC

SCITEVENTS

CROSSREF

PROCEEDINGS SUBMITTED FOR INDEXATION BY:

dblp

Ei Compendex

SCOPUS

Semantic Scholar

Google Scholar

Microsoft Academic