DocumentCode
380998
Title
Experimental identification of the dynamics parameters of an omnidirectional wheeled mobile robot
Author
Song, Yixu ; Tan, Dalong ; Tian, Yu
Author_Institution
Inst. of Autom., Chinese Acad. of Sci., Shenyang, China
Volume
2
fYear
2002
fDate
2002
Firstpage
1175
Abstract
The accuracy of a controllers based model relies highly on the ability of the robot model to accurately predict the required actuator toques, e.g. computed torque control. The paper discusses the experimental identification of the dynamics model of an omnidirectional mobile robot. The experimental results show that the accurate estimation of parameters of the dynamics model is attainable and these estimated parameters will be useful for robust controllers.
Keywords
mobile robots; parameter estimation; robot dynamics; robust control; accurate estimation; computed torque control; controllers based model; dynamics model; dynamics parameters; experimental identification; omnidirectional wheeled mobile robot; robust controllers; Actuators; Automatic control; Electronic mail; Laboratories; Mobile robots; Parameter estimation; Predictive models; Robotics and automation; Robust control;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on
Print_ISBN
0-7803-7268-9
Type
conf
DOI
10.1109/WCICA.2002.1020765
Filename
1020765
Link To Document