Task based kinematical robot control in the presence of actuator velocity saturation and its application to trajectory tracking for an omni-wheeled mobile robot

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 2611-2616

  Indiveri, Giovanni ^a   Paulus, Jan ^b   Plöger, Paul G ^b  

^a UNIVERSITY OF SALENTO   (Italy)

^b FRAUNHOFER IAIS   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

ANGULAR VELOCITY; LYAPUNOV METHODS; MATHEMATICAL MODELS; MOBILE ROBOTS; VELOCITY MEASUREMENT;

CONTROL LAWS; OMNI WHEELED MOBILE ROBOTS; TRAJECTORY TRACKING; VELOCITY SATURATION;

CONTROL SYSTEMS;

EID: 36348946865     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.363859     Document Type: Conference Paper

References (12)

1. L. Sciavicco and B. Siciliano, "Modelling and Control of Robot Manipulators", Springer Verlag (ISBN; 1852332212), 2000
2. Y. Nakamura, "Advanced Robotics: Redundancy and Optimization", Addison-Wesley Longman Publishing Co., Inc. Boston, MA, USA, 1990
3. C. Samson, M. Le Borgne and B. Espiau, "Robot Control: The Task Function Approach. Oxford Engineering Science Series No. 22. Clarendon Press, 1991.
4. O. Diegel, A. Badve, G. Bright, J. Potgieter and S. Tlale, "Improved Mecanum Wheel Design for Omni-directional Robots", Proc. 2002 Australian Conference on Robotics and Automation, Auckland, 27-29 November 2002.
5. G. Campion, G. Bastln and B. D'Andréa-Novel, "Structural Properties and Classification of Kinematic and Dynamic Models of Wheeled Mobile Robots", IEEE Transactions on Robotics and Automation, Vol. 12, No. 1, February 1996, pp. 47 - 62.
6. G. Indiveri, J. Paulus, and P.G. Plöger, "Motion Control of Swedish Wheeled Mobile Robots in the Presence of Actuator Saturation", In Proceedings of the RoboCup International Symposium 2006 Bremen, Germany, 19th - 20th June 2006.
7. B. Siciliano, J-J. E. Slotine, "A General Framework for Managing Multiple Tasks in Highly Redundant Robotic Systems", Proceedings of the IEEE ICAR 1991, International Conference on Advanced Robotics, pages 1211 1216, Pisa, Italy, June 1991.
8. J. Agulló, S. Cardona and J. Vivancos, "Kinematics of Vehicles with Directional Sliding Wheels", Mech. Mach. Theory, Vol. 22, No. 4, 1987, pp. 295 - 301.
9. T. Wisspeintner, W. Nowak and Ansgar Bredenfeld, "Volksbot: A flexible component based mobile Robot system", in: A. Bredenfeld et al. (Eds), RoboCup 2005, Springer LNAI 4020, pp. 716-723.
10. E. Menegatti, A. Pretto, and E. Pagello, "A new omnidirectional vision sensor for monte-carlo localization", In Int. RoboCup Symposium CDROM, Lisbon, Portugal, 2004.
11. D. Schulz, W. Burgard, D. Fox, and A. Cremers, "People tracking with a mobile robot using sample-based joint probabilistic data association filters", International Journal of Robotics Research (IJRR). Springer, 2003.
12. Seven Olufs, "Vision-Based Probabilistic State Estimation using Omnidirectional Cameras", Master Thesis FH-BRS, St. Augustin, 2005.