CIFASIS 20631
CENTRO INTERNACIONAL FRANCO ARGENTINO DE CIENCIAS DE LA INFORMACION Y DE SISTEMAS
Unidad Ejecutora - UE
congresos y reuniones científicas
Título:
Omni-directional Mobile Robot Control System Design and Implementation
Autor/es:
BUREU, CLARA; CRESPO, MARTÍN; NACUSSE, MATIAS; JUNCO, SERGIO; CASÁ, JOSE; MIGONI, GUSTAVO ANDRES
Lugar:
Neuquen
Reunión:
Jornada; X Jornadas Argentinas de Robotica (JAR); 2019
Institución organizadora:
Universidad Nacional del Comahue
Resumen:
This work presents the design and implementation ofa controller for trajectory tracking, implemented in a mobilerobot with omniwheels. The mobile platform consist on a basewith three independent omniwheels located 120 degrees aparteach other and each wheel is actuated by a DC motor. Thecompleted model of the mobile platform is developed and thecontrol design is presented. Simulations results are presented tovalidate both the mathematical models and the control laws whileexperimental results show the good performance of the control.
