Abstract
This work is focused on the proposal of a kinematic modeling and kinematic nonlinear controller to solve problems such as point stabilization, trajectory tracking and path following about of dynamic omnidirectional robot for which will be synthesized in an unified controller. The dynamic compensation controller is considered through of omnidirectional robot-inner-loop system to independently track three velocity commands: front, lateral and angular. This controller is proved in the simulation and with the experimental test with the construction of the robot with mecanum wheels in AB configuration.
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Andaluz, V.H., Carvajal, C.P., Arteaga, O., Pérez, J.A., Valencia, F.S., Solís, L.A. (2017). Unified Dynamic Control of Omnidirectional Robots. In: Gao, Y., Fallah, S., Jin, Y., Lekakou, C. (eds) Towards Autonomous Robotic Systems. TAROS 2017. Lecture Notes in Computer Science(), vol 10454. Springer, Cham. https://doi.org/10.1007/978-3-319-64107-2_55
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DOI: https://doi.org/10.1007/978-3-319-64107-2_55
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