Feasible utilization of the inherent characteristics of holonomic mobile robots

This paper presents a computationally inexpensive generic method to utilize the maximum velocity and acceleration of an omnidirectional mobile robot. The proposed method is based on the inverse kinematic and inverse dynamic models by defining novel velocity and acceleration reserve multipliers respe...

Full description

Saved in:
Bibliographic Details
Published in:Robotics and autonomous systems 2017-08, Vol.94, p.12-24
Main Authors: Szayer, Géza, Kovács, Bence, Tajti, Ferenc, Korondi, Péter
Format: Article
Language:English
Subjects:
Holonomic robot
Kiwi drive
Phase space
Robot Operating System
Wheel-slip
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper presents a computationally inexpensive generic method to utilize the maximum velocity and acceleration of an omnidirectional mobile robot. The proposed method is based on the inverse kinematic and inverse dynamic models by defining novel velocity and acceleration reserve multipliers respectively. The defined multipliers enable a computationally inexpensive solution and give representative index numbers, showing the amount of utilized resources during online computation. The model was applied to control a kiwi drive mobile robot and validated by experimental measurements. An open-source Robot Operating System (ROS) catkin C++ package was published to enable the feasible implementation of the results. •A feasible method was developed to handle the mechanical capabilities of omniwheeled robots.•The proposed algorithm conforms to the current, widely used robot control architectures.•A simulation of dynamic characteristics was published to assist robot design.•The simulation and experimental measurements confirmed the theoretical results.•A Robot Operating System package was implemented and is accessible online.
ISSN:0921-8890
1872-793X
DOI:10.1016/j.robot.2017.04.002