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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.department Mechanical Engineering
thesis.degree.discipline Engineering
thesis.degree.grantor Rice University
thesis.degree.level Masters
thesis.degree.name Master of Science
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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