Regresar

Control of an Omnidirectional Robot Based on the Kinematic and Dynamic Model

Abstract:

This work focuses on the proposal for the implementation and evaluation of control algorithms for the monitoring of autonomous trajectories based on the kinematic and dynamic model of an omnidirectional robotic platform in four wheel configuration type mecanum also built for the process of identification and validation of the dynamic parameters obtained from the mathematical model by means of an identification algorithm, the evaluation of these control algorithms is carried out experimentally on the Robotic Platform in real four-wheel omnidirectional configuration with which it also allows to evaluate the operation of the Hardware in the Loop control scheme (HIL), a technique that constitutes the untimely connection of external hardware with computer equipment allowing to simulate in real time the behavior of the robotic system with omnidirectional traction in four-wheel configuration type mecanum. Subsequently the data resulting from the Hardware in the Loop (HIL) control scheme will be compared to the data obtained in the experimental test for corresponding validation.