Dynamic Model of a Holonomic Mobile Robot with Actuated Caster Wheels

Author

El-Shenawy, Ahmed ; Wagner, Achim ; Badreddin, Essam

Author_Institution

Autom. Lab., Mannheim Univ.

fYear

2006

fDate

5-8 Dec. 2006

Firstpage

1

Lastpage

6

Abstract

A dynamic model for the holonomic mobile robot C3P is proposed. The C3P has three caster wheels with angular velocities actuation. The model consists of two main dynamic equations which have been derived symbolically using a Lagrange approach. The first equation is the forward dynamics which is used to calculate the wheels angular velocities corresponding to the applied torques on the wheels. The second equation is the steering dynamic estimator for recursive calculation of the steering angles and their derivatives with respect to the wheel angular velocities and acceleration. The velocity control of the C3P using the dynamic model is simulated and compared to the kinematics based controller which have been proposed earlier. The simulation and experimental results clearly show the advantages of the dynamic model in relation to the kinematic one

Keywords

angular velocity control; mobile robots; robot dynamics; Lagrange approach; actuated caster wheels; angular velocities actuation; dynamic model; forward dynamics; holonomic mobile robot; steering dynamic estimator; velocity control; Acceleration; Angular velocity; Equations; Kinematics; Lagrangian functions; Mobile robots; Recursive estimation; Robotics and automation; Velocity control; Wheels; dynamics; kinematic; model; simulation; singular;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on

Conference_Location

Singapore

Print_ISBN

1-4244-0341-3

Electronic_ISBN

1-4214-042-1

Type

conf

DOI

10.1109/ICARCV.2006.345354

Filename

4150195