Feedback Control of an Omnidirectional Autonomous Platform for Mobile Service Robots

Watanabe, K; Shiraishi, Y; Tzafestas, SG; Tang, J; Fukuda, T

dc.contributor.author	Watanabe, K	en
dc.contributor.author	Shiraishi, Y	en
dc.contributor.author	Tzafestas, SG	en
dc.contributor.author	Tang, J	en
dc.contributor.author	Fukuda, T	en
dc.date.accessioned	2014-03-01T01:13:45Z
dc.date.available	2014-03-01T01:13:45Z
dc.date.issued	1998	en
dc.identifier.issn	0921-0296	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/12706
dc.subject	Holonomic robot	en
dc.subject	Mobile service robot	en
dc.subject	Omnidirectional mobile platform	en
dc.subject	Omnidirectional mobile robot	en
dc.subject	Omnidirectional-robot dynamic model	en
dc.subject	Resolved acceleration feedback control	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Robotics	en
dc.subject.other	Feedback control	en
dc.subject.other	Health care	en
dc.subject.other	Motion control	en
dc.subject.other	Robot applications	en
dc.subject.other	Two term control systems	en
dc.subject.other	Holonomic robots	en
dc.subject.other	Omnidirectional autonomous platforms	en
dc.subject.other	Mobile robots	en
dc.title	Feedback Control of an Omnidirectional Autonomous Platform for Mobile Service Robots	en
heal.type	journalArticle	en
heal.identifier.primary	10.1023/A:1008048307352	en
heal.identifier.secondary	http://dx.doi.org/10.1023/A:1008048307352	en
heal.language	English	en
heal.publicationDate	1998	en
heal.abstract	This paper proposes a feedback control scheme for an omnidirectional holonomic autonomous platform, which is equipped with three lateral orthogonal-wheel assemblies. Firstly, the dynamic properties of the platform are studied, and a dynamic model suitable for the application of control is derived. The control scheme constructed is of the resolved-acceleration type, with PI and PD feedback. The control scheme was experimentally applied to an actual mobile robotic platform. The results obtained show that full omnidirectionality can be achieved with decoupled rotational and translational motions. Omnidirectionality is one of the principal requirements for mobile robots designed for health-care and other general-hospital services.	en
heal.publisher	KLUWER ACADEMIC PUBL	en
heal.journalName	Journal of Intelligent and Robotic Systems: Theory and Applications	en
dc.identifier.doi	10.1023/A:1008048307352	en
dc.identifier.isi	ISI:000076301500009	en
dc.identifier.volume	22	en
dc.identifier.issue	3-4	en
dc.identifier.spage	315	en
dc.identifier.epage	330	en