Design of a mobile robot for RoboCup Middle Size League

Author

Conceao, A.S. ; Moreira, A. Paulo ; Costa, Paulo J.

Author_Institution

Dept. of Electr. Eng., Fed. Univ. of Bahia, Salvador, Brazil

fYear

2009

fDate

29-30 Oct. 2009

Firstpage

1

Lastpage

6

Abstract

This article presents a design of a four-wheeled omnidirectional mobile robot for RoboCup middle size league. The mobile robot was built for the 5dpo-2000 robotic soccer team from the Department of Electrical and Computer Engineering at the University of Porto, Portugal. The robot´s architecture and communication structure are presented. A nonlinear modeling and a motion analysis based on the dynamics, kinematics, and DC motors are analyzed. This model could find the nonlinear saturation elements, such as limits of current of the motors, amplitude of the applied voltage in the motors, and frictions related to equation of motion. Simulation results are provided to demonstrate the performance of the proposed project.

Keywords

DC motors; control system synthesis; mobile robots; motion control; multi-robot systems; nonlinear control systems; robot dynamics; robot kinematics; sport; 5dpo-2000 robotic soccer team; DC motors; RoboCup middle size league; communication structure; dynamics; four-wheeled omnidirectional mobile robot design; kinematics; motion analysis; nonlinear modeling; nonlinear saturation elements; robot architecture; Computer architecture; DC motors; Friction; Kinematics; Mobile communication; Mobile robots; Motion analysis; Robot sensing systems; Voltage; Wheels; Embedded and Mobile Hardware; Mobile robotics; Modeling; Robot Soccer;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics Symposium (LARS), 2009 6th Latin American

Conference_Location

Valparaiso

Print_ISBN

978-1-4244-6256-8

Type

conf

DOI

10.1109/LARS.2009.5418331

Filename

5418331