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Title:
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Kinematic analysis and trajectory control of the Rice omni-directional mobile robot (Rice University, Texas) |
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Author:
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Adnan, Sarmad |
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Advisor:
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Cheatham, John B., Jr. |
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Abstract:
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The forward/inverse kinematics, trajectory planning and control system for a mobile omni-directional robot are analyzed and implemented. For kinematic analysis each wheel of the robot has been modeled as a "higher pair" joint. Both the forward and inverse kinematic solutions of the robot are dealt with. The trajectory planning for the robot is done on two levels, a global robot trajectory and individual wheel trajectories. A simple, Linear Segment with Parabolic Blends, trajectory is used on the local, wheel level. On the global level the robot can be made to move along higher order trajectories. A PID control system for the robot is implemented for this purpose. Using a hierarchical control scheme the wheel encoder feedback is converted to global motion feedback. This control scheme does not account for wheel slippage. |
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Citation:
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Adnan, Sarmad. "Kinematic analysis and trajectory control of the Rice omni-directional mobile robot (Rice University, Texas)." Masters Thesis, Rice University, ETD http://hdl.handle.net/1911/13337. |
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Citable link to this page:
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http://hdl.handle.net/1911/13337 |
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Date:
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1989 |
