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
N1 - Publisher Copyright:
© 2022 IEEE.
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 -