Practical Approach of Modeling and Parameters Estimation for Omnidirectional Mobile Robots

Conceição, André Gustavo Scolari; Moreira, António Paulo; Costa, Paulo

doi:10.1109/tmech.2009.2013615

Cited by 62 publications

(24 citation statements)

References 9 publications

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“…Model Predictive Control is usually designed from the discrete-time model of the system. Discretization of (13) leads to the following model:…”

Section: Model Predictive Controllermentioning

confidence: 99%

“…Moreover the models are quite complex, requiring, as a consequence, complex control design methods. A quite simple model has be used in [13], where methods for parameter estimation were proposed and validated through experimental results. This model was already used in [14], where methods of numerical optimization were applied to directly design a nonlinear predictive motion controller.…”

Section: Introductionmentioning

confidence: 99%

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Predictive Control of an Omnidirectional Mobile Robot with Friction Compensation

Conceição¹,

Dórea²,

Sb.³

2010

2010 Latin American Robotics Symposium and Intelligent Robotics Meeting

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This paper focuses on the trajectory tracking control problem of a four wheeled omnidirectional mobile robot. The controller architecture considers both the kinematic and the dynamic control in a cascade structure, where a model predictive controller (MPC) is used to control the robot dynamics. Part of the control effort is used to compensate the friction effects, allowing for the use of efficient linear MPC algorithms under constraints. Simulation results of navigation are provided to demonstrate the performance of the proposed control strategy.

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“…Model Predictive Control is usually designed from the discrete-time model of the system. Discretization of (13) leads to the following model:…”

Section: Model Predictive Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Predictive Control of an Omnidirectional Mobile Robot with Friction Compensation

Conceição¹,

Dórea²,

Sb.³

2010

2010 Latin American Robotics Symposium and Intelligent Robotics Meeting

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“…Figure 1 shows an example of an omnidirectional wheel called the omni wheel. The omni wheel has a disk shape like a conventional wheel and can move in any direction (Asama et al, 1995;Barreto S. et al, 2014;Conceição et al, 2009;Fisette et al, 2000;Huang, 2013;Huang and Tsai, 2009;Iida et al, 2008;Kalmár-Nagy et al, 2004;Kim and Kim, 2014;Leow et al, 2002;Liua et al, 2008;Loh et al, 2003;Sharbafi et al, 2010;Tsai et al, 2011;Ushimi et al, 2003;Williams II et al, 2002). The omni wheel has free rollers around its outer circumference that can rotate passively.…”

Section: Introductionmentioning

confidence: 99%

“…Various reports concerning omni wheels have been published, such as reports on motion analysis and modeling of these wheels (Barreto S. et al, 2014;Conceição et al, 2009;Fisette et al, 2000;Huang, 2013;Leow et al, 2002;Loh et al, 2003;Williams II et al, 2002), their control (Kalmár-Nagy et al, 2004;Kim and Kim, 2014;Liua et al, 2008;Sharbafi et al, 2010), and the development of mobile robots or mobile devices using the wheels (Asama et al, 1995;Huang and Tsai, 2009;Iida et al, 2008;Sharbafi et al, 2010;Tsai et al, 2011;Ushimi et al, 2003). Another example of an omnidirectional mechanism is the Mecanum wheel (Dickerson and Lapin, 1991;Diegel et al, 2002;Harris, 2002;Indiveri, 2009;Saha et al, 1995;Salih et al, 2006;Viboonchaicheep et al, 2003).…”

Section: Introductionmentioning

confidence: 99%

Active omni wheel capable of active motion in arbitrary direction and omnidirectional vehicle

Komori

Matsuda

Terakawa

et al. 2016

JAMDSM

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A transportation vehicle or mobile robot that can move to a target location in an arbitrary direction on the floor is important to ensure that work can proceed quickly and effectively in a limited space. To move in an arbitrary direction, conventional methods such as omni wheels have free rollers along the outer circumference of the wheel that can rotate passively. However, the conventional methods are difficult to control precisely because of the rotational resistance of the free rollers. In addition, the direction that the conventional methods can move actively by themselves is limited. This paper proposes a novel mechanism called the active omni wheel, which is able to actively move in an arbitrary direction by using only one wheel unit. The active omni wheel is composed of a main body and outer rollers arranged around the outer circumference of the wheel. By using a differential gear mechanism, the active omni wheel enables active rotation of not only the main body of the wheel but also the outer rollers. The theoretical equation of motion of the active omni wheel is clarified to control the wheel. An omnidirectional vehicle using the active omni wheel is discussed. The appropriate arrangement of wheels that enables the omnidirectional vehicle to move actively in arbitrary directions by using the active omni wheel is shown and the motion theory is constructed. This paper also discusses the structure appropriate for the vehicle using the active omni wheel, including the arrangement of input shafts, the structure supporting the wheels, the main body of the vehicle, and its suspension. The active omni wheel and omnidirectional vehicle were designed and manufactured. Experiments conducted on the manufactured vehicle verify the effectiveness of the active omni wheel and the omnidirectional vehicle.

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“…Generally, the model complexity grows when models get more representative, requiring more extensive parameter estimation. To avoid the complicated estimation problem associated with these parameters, much research has been done on compensation methods that rely on the relatively simple Coulomb friction model [2]- [6], [8]- [10], [20], [21]. In the approach of [2], an observer is used for the on-line identification of the Coulomb friction coefficient.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Friction Compensation: A Globally Stable Approach

Verbert

Tóth

Babuška

2015

IEEE/ASME Trans. Mechatron.

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Abstract-In this paper, an adaptive friction compensation scheme is proposed. The friction force is computed as a timevarying friction coefficient multiplied by the sign of the velocity and an on-line update law is designed to estimate this coefficient based on the actual position and velocity errors. Furthermore, a modified signum function definition is proposed to better capture the behavior of friction over varying velocity profiles than the signum function commonly used in friction models. The properties of the closed-loop behavior of the proposed scheme are analyzed and stability of the closed-loop system is proven. Simulations and real-world experimental results are provided to confirm the theoretical findings: the compensator is able to eliminate steady-state errors, significantly decrease the stick-slip effect and compensate even rapidly varying friction forces.

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Practical Approach of Modeling and Parameters Estimation for Omnidirectional Mobile Robots

Cited by 62 publications

References 9 publications

Predictive Control of an Omnidirectional Mobile Robot with Friction Compensation

Predictive Control of an Omnidirectional Mobile Robot with Friction Compensation

Active omni wheel capable of active motion in arbitrary direction and omnidirectional vehicle

Adaptive Friction Compensation: A Globally Stable Approach

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