Scheduled System Maintenance:
Some services will be unavailable Sunday, March 29th through Monday, March 30th. We apologize for the inconvenience.
By Topic

Practical Approach of Modeling and Parameters Estimation for Omnidirectional Mobile Robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Conceicao, A.S. ; Dept. of Electr. & Comput. Eng., Univ. of Porto, Porto ; Moreira, A.P. ; Costa, P.J.

This paper presents a nonlinear modeling approach for omnidirectional mobile robots. Three experimental methods of estimation of the parameters related to dynamic equations of the robot's model are developed. The estimation methods are based on least-squares methods to obtain the viscous friction coefficients, the coulomb friction coefficients, and the moment of inertia of the robot. Simulation results and real results of navigation are provided to demonstrate the performance of the proposed modeling approach.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:14 ,  Issue: 3 )