TY - GEN
T1 - Path-tracking dynamic model based control of an omnidirectional mobile robot
AU - Vázquez, Alejandro
AU - Velasco-Villa, Martin
AU - Del-Muro-Cuellar, Basilio
N1 - Funding Information:
Supported by CONACyT, México. Under Grant 61713.
PY - 2008
Y1 - 2008
N2 - Considering the dynamic model of an omnidirectional mobile robot (also known of a type (3,0)), in this work is addressed the Path-tracking control problem of this class of systems. The solution of the problem is obtained by considering some suitable modifications of the well known computed-torque control strategy usually used on the field of robot manipulators. The modifications considered in this work are due to the structural differences between a mobile robot and a classical rigid robot manipulator. It is formally proved that the proposed control strategy allows the convergence of the tracking errors and assures the closed loop stability of the system. The tracking strategy is evaluated by simulation, showing an acceptable performance.
AB - Considering the dynamic model of an omnidirectional mobile robot (also known of a type (3,0)), in this work is addressed the Path-tracking control problem of this class of systems. The solution of the problem is obtained by considering some suitable modifications of the well known computed-torque control strategy usually used on the field of robot manipulators. The modifications considered in this work are due to the structural differences between a mobile robot and a classical rigid robot manipulator. It is formally proved that the proposed control strategy allows the convergence of the tracking errors and assures the closed loop stability of the system. The tracking strategy is evaluated by simulation, showing an acceptable performance.
KW - Identification and control methods
KW - Mobile robots
UR - http://www.scopus.com/inward/record.url?scp=79961019394&partnerID=8YFLogxK
U2 - 10.3182/20080706-5-KR-1001.3502
DO - 10.3182/20080706-5-KR-1001.3502
M3 - Contribución a la conferencia
AN - SCOPUS:79961019394
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -