Dynamic modelling, parameter identification, and motion control of an omnidirectional tire-wheeled robot
In recent years, autonomous mobile platforms are finding an increasing range of applications in inspection or surveillance tasks, or to the transport of objects, in places such as smartwarehouses, factories or hospitals. In these environments it is useful for the robot to have omni-directional capab...
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| Tipo de recurso: | tesis de maestría |
| Fecha de publicación: | 2021 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/346539 |
| Acceso en línea: | https://hdl.handle.net/2117/346539 |
| Access Level: | acceso abierto |
| Palabra clave: | Robots -- Motion Robots -- Dynamics -- Mathematical models Autonomous robot -- Design and construction Robots -- Moviment Robots -- Dinàmica -- Models matemàtics Robots autònoms -- Disseny i construcció Àrees temàtiques de la UPC::Enginyeria electrònica |
| Sumario: | In recent years, autonomous mobile platforms are finding an increasing range of applications in inspection or surveillance tasks, or to the transport of objects, in places such as smartwarehouses, factories or hospitals. In these environments it is useful for the robot to have omni-directional capability in the plane, so it can navigate through narrow or cluttered areas, or make position and orientation changes without having to maneuver. While this capability is usually achieved with directional sliding wheels, this project studies a particular robot that achieves omnidirectionality using conventional wheels, which are easier to manufacture and maintain,and support larger loads in general. This robot, which we call the “Otbot” (for Omnidirectionaltire-wheeled robot), was already conceived in the late 1990s, but all the controllers that have been proposed for it are based on purely kinematic models so far. These controllers may be sufficient if the robot is light, or if its motors are powerful, but on platforms that have to carry large loads, or that have more limited motors, it is necessary to resort to control laws based on dynamic models if the full acceleration capacities are to be exploited. This project develops a dynamic model of the Otbot, proposes a plausible methodology to identify its parameters, and designs a control law that, using this model, is able to track prescribed trajectories in an accurate and robust manner |
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