Authors: Bureu, Clara; Casá, Jose; Nacusse, Matias; Crespo, Martín; Migoni, Gustavo Andres; Junco, Sergio.
Resumen: This work presents the design and implementation ofa controller for trajectory tracking, implemented in a mobilerobot with omniwheels. The mobile platform consist on a basewith three independent omniwheels located 120 degrees aparteach other and each wheel is actuated by a DC motor. Thecompleted model of the mobile platform is developed and thecontrol design is presented. Simulations results are presented tovalidate both the mathematical models and the control laws whileexperimental results show the good performance of the control.
Meeting type: Jornada.
Type of job: Artículo Completo.
Production: Omni-directional Mobile Robot Control System Design and Implementation.
Scientific meeting: X Jornadas Argentinas de Robotica (JAR).
Meeting place: Neuquen.
Organizing Institution: Universidad Nacional del Comahue.
It's published?: Yes
Publication place: Neuquen
Meeting month: 11