Modelling and control design for a class of omnidirectional robots
(1996) Proceedings of Advances in Robotics. The ERNET Perspective — Location: Darmstadt, Germany (9.September.1996)
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- Abstract
- Mobile robots equipped with only orientable wheels are shown to be omnidirectional. There does not exist a global state-space formulation for the kinematic and for dynamic models of such robots. This has be kept in mind in the design of feedback control laws. For real robots, not satisfying the kinematic constraints, a dynamical model is derived, based on constitutive equations for the contact forces.
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Citations
Betourne, A., & Campion, G. (1996). Modelling and control design for a class of omnidirectional robots. In Bonivento, C.; Melchiorri, C.; Tolle, H.; (ed.), Advances in Robotics. The ERNET Perspective. Proceedings of theResearch Workshop of ERNET - European Robotics Network (p. p. 145-152). World scientific. https://hdl.handle.net/2078.5/222963