Dynamics and Control Design of an Omnidirectional Mobile Robot - Nguyen, Xuan Bao;Truong, Thi Hoa
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  • Broschiertes Buch

This book will start with an explanation of the concept and advantages of omnidirectional mobility. Then, a brief introduction to the omnidirectional mobile platform will be given and hardware characteristics be clarified. Thereafter, the robot kinematics is analyzed to prescribe the robot's movements in the environment; the dynamics slip model is built which will be used to implement tracking. Base on dynamics model, a path tracking control is design using sliding mode control, fuzzy logic control to make robot follow the desired path with minimal system tracking error. The tracking…mehr

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Produktbeschreibung
This book will start with an explanation of the concept and advantages of omnidirectional mobility. Then, a brief introduction to the omnidirectional mobile platform will be given and hardware characteristics be clarified. Thereafter, the robot kinematics is analyzed to prescribe the robot's movements in the environment; the dynamics slip model is built which will be used to implement tracking. Base on dynamics model, a path tracking control is design using sliding mode control, fuzzy logic control to make robot follow the desired path with minimal system tracking error. The tracking performance of tracking strategy is evaluated by MATLAB simulation. The experiment for validating the developed method of tracking control is implemented by Digital Signal Processor and experimental results are shown. Finally, summarizes the research results and discusses ideas for future extension of the research.Keywords: Omnidirectional mobile robot, kinematics, dynamics, fuzzy control, sliding control.
Autorenporträt
Xuan Bao Nguyen received the B.E. degree from Ho Chi Minh City University of Technology - Vietnam National University ¿ HCMC, Vietnam, in 2008, the M.E. degree from Chinese Culture University, Taiwan, 2013 and the Ph.D. degree from Kanazawa University, Japan, in 2018. He joined Danang University¿Vietnam in 2009, where he is currently a Lecturer.