Off-Line Identification of Dynamic Parameters of Omnidirectional Mobile Robot Based on Decoupled Powered Caster Wheels

Zidong Zhang; Silu Chen; Jiajie Xu; Yunfei Wan; Qiang Liu; Dongtai Liang; Chi Zhang; Guilin Yang

doi:10.1109/AIM52237.2022.9863330

Off-Line Identification of Dynamic Parameters of Omnidirectional Mobile Robot Based on Decoupled Powered Caster Wheels

Zidong Zhang
, Silu Chen^*
, Jiajie Xu
, Yunfei Wan
, Qiang Liu
, Dongtai Liang
, Chi Zhang
, Guilin Yang

^*Corresponding author for this work

Ningbo University
CAS - Ningbo Institute of Material Technology and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, a novel omnidirectional mobile robot built with decoupled powered caster wheels is studied. The kinematic and dynamic models of this robot are established and linearized, from one-quarter body to the whole robot. The decentralized relay test procedure is proposed to excite the robot under bounded motions, so that the dynamic parameters are identified on a variety of moving paths. The effectiveness of the modeling and parameter identification methods are verified by simulation.

Original language	English
Title of host publication	2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1321-1326
Number of pages	6
ISBN (Electronic)	9781665413084
DOIs	https://doi.org/10.1109/AIM52237.2022.9863330
State	Published - 2022
Externally published	Yes
Event	2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022 - Sapporo, Japan Duration: 11 Jul 2022 → 15 Jul 2022

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume	2022-July

Conference

Conference	2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022
Country/Territory	Japan
City	Sapporo
Period	11/07/22 → 15/07/22

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10.1109/AIM52237.2022.9863330

Cite this

Zhang, Z., Chen, S., Xu, J., Wan, Y., Liu, Q., Liang, D., Zhang, C., & Yang, G. (2022). Off-Line Identification of Dynamic Parameters of Omnidirectional Mobile Robot Based on Decoupled Powered Caster Wheels. In 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022 (pp. 1321-1326). (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2022-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM52237.2022.9863330

Zhang, Zidong ; Chen, Silu ; Xu, Jiajie et al. / Off-Line Identification of Dynamic Parameters of Omnidirectional Mobile Robot Based on Decoupled Powered Caster Wheels. 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022. Institute of Electrical and Electronics Engineers Inc., 2022. pp. 1321-1326 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

@inproceedings{565db7a8c7a64cc88b81cbbab595dfd1,

title = "Off-Line Identification of Dynamic Parameters of Omnidirectional Mobile Robot Based on Decoupled Powered Caster Wheels",

abstract = "In this paper, a novel omnidirectional mobile robot built with decoupled powered caster wheels is studied. The kinematic and dynamic models of this robot are established and linearized, from one-quarter body to the whole robot. The decentralized relay test procedure is proposed to excite the robot under bounded motions, so that the dynamic parameters are identified on a variety of moving paths. The effectiveness of the modeling and parameter identification methods are verified by simulation.",

author = "Zidong Zhang and Silu Chen and Jiajie Xu and Yunfei Wan and Qiang Liu and Dongtai Liang and Chi Zhang and Guilin Yang",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022 ; Conference date: 11-07-2022 Through 15-07-2022",

year = "2022",

doi = "10.1109/AIM52237.2022.9863330",

language = "英语",

series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "1321--1326",

booktitle = "2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022",

address = "美国",

}

Zhang, Z, Chen, S, Xu, J, Wan, Y, Liu, Q, Liang, D, Zhang, C & Yang, G 2022, Off-Line Identification of Dynamic Parameters of Omnidirectional Mobile Robot Based on Decoupled Powered Caster Wheels. in 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, vol. 2022-July, Institute of Electrical and Electronics Engineers Inc., pp. 1321-1326, 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022, Sapporo, Japan, 11/07/22. https://doi.org/10.1109/AIM52237.2022.9863330

Off-Line Identification of Dynamic Parameters of Omnidirectional Mobile Robot Based on Decoupled Powered Caster Wheels. / Zhang, Zidong; Chen, Silu; Xu, Jiajie et al.
2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 1321-1326 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2022-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Off-Line Identification of Dynamic Parameters of Omnidirectional Mobile Robot Based on Decoupled Powered Caster Wheels

AU - Zhang, Zidong

AU - Chen, Silu

AU - Xu, Jiajie

AU - Wan, Yunfei

AU - Liu, Qiang

AU - Liang, Dongtai

AU - Zhang, Chi

AU - Yang, Guilin

PY - 2022

Y1 - 2022

N2 - In this paper, a novel omnidirectional mobile robot built with decoupled powered caster wheels is studied. The kinematic and dynamic models of this robot are established and linearized, from one-quarter body to the whole robot. The decentralized relay test procedure is proposed to excite the robot under bounded motions, so that the dynamic parameters are identified on a variety of moving paths. The effectiveness of the modeling and parameter identification methods are verified by simulation.

AB - In this paper, a novel omnidirectional mobile robot built with decoupled powered caster wheels is studied. The kinematic and dynamic models of this robot are established and linearized, from one-quarter body to the whole robot. The decentralized relay test procedure is proposed to excite the robot under bounded motions, so that the dynamic parameters are identified on a variety of moving paths. The effectiveness of the modeling and parameter identification methods are verified by simulation.

UR - https://www.scopus.com/pages/publications/85137660570

U2 - 10.1109/AIM52237.2022.9863330

DO - 10.1109/AIM52237.2022.9863330

M3 - 会议稿件

AN - SCOPUS:85137660570

T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

SP - 1321

EP - 1326

BT - 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022

Y2 - 11 July 2022 through 15 July 2022

ER -

Zhang Z, Chen S, Xu J, Wan Y, Liu Q, Liang D et al. Off-Line Identification of Dynamic Parameters of Omnidirectional Mobile Robot Based on Decoupled Powered Caster Wheels. In 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2022. Institute of Electrical and Electronics Engineers Inc. 2022. p. 1321-1326. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). doi: 10.1109/AIM52237.2022.9863330

Off-Line Identification of Dynamic Parameters of Omnidirectional Mobile Robot Based on Decoupled Powered Caster Wheels

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