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Kinematic analysis and trajectory control of the Rice omni-directional mobile robot (Rice University, Texas)

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dc.contributor.advisor Cheatham, John B., Jr.
dc.creator Adnan, Sarmad
dc.date.accessioned 2009-06-04T00:11:50Z
dc.date.available 2009-06-04T00:11:50Z
dc.date.issued 1989
dc.identifier.uri http://hdl.handle.net/1911/13337
dc.description.abstract 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.
dc.format.extent 122 p.
dc.format.mimetype application/pdf
dc.language.iso eng
dc.subject Engineering, Mechanical
Engineering, Electronics and Electrical
dc.title Kinematic analysis and trajectory control of the Rice omni-directional mobile robot (Rice University, Texas)
dc.type.genre Thesis
dc.type.material Text
thesis.degree.discipline Engineering
thesis.degree.grantor Rice University
thesis.degree.level Masters
dc.identifier.citation Adnan, Sarmad. (1989) "Kinematic analysis and trajectory control of the Rice omni-directional mobile robot (Rice University, Texas)." Masters Thesis, Rice University. http://hdl.handle.net/1911/13337.

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