Motion control of an omnidirectional mobile robot
نویسندگان
چکیده
This paper focuses on the motion control problem of an omnidirectional mobile robot. A new control method based on the inverse input-output linearized kinematic model is proposed. As the actuator saturation and actuator dynamics have important impacts on the robot performance, this control law takes into account these two aspects and guarantees the stability of the closed-loop control system. Real-world experiments with an omnidirectional middle-size RoboCup robot verifies the performance of this proposed control algorithm.
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