| 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 |
PDF |
| 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. "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. |
