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.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.