Control of omni-directional mobile robot motion
Other Title(s)
السيطرة على حركة انسان آلي نقال متعدد الاتجاهات
Joint Authors
Zayir, Iman Ahmad
al-Amiri, Abd al-Salam
Source
al-Khwarizmi Engineering Journal
Issue
Vol. 6, Issue 4 (31 Dec. 2010)9 p.
Publisher
University of Baghdad al-Khwarizmi College of Engineering
Publication Date
2010-12-31
Country of Publication
Iraq
No. of Pages
9
Main Subjects
Topics
Abstract EN
This paper presents the motion programming and control of omni-directional mobile robot through the process of building and programming a small robotic platform with secondary design criteria of modularity and simplified control.
This is accomplished by combining the positive aspects of several different robotics platform ideas.
The platform is shaped like an equilateral triangle with a servo motor, sensors, and omni-wheel, controlled by a PIC microcontroller.
In this work the kinematics, inverse kinematics and dynamic module for the platform is derived.
Two search algorithms (the wall-following search and the “most-open-area” search) is designed, tested, and analyzed experimentally.
American Psychological Association (APA)
al-Amiri, Abd al-Salam& Zayir, Iman Ahmad. 2010. Control of omni-directional mobile robot motion. al-Khwarizmi Engineering Journal،Vol. 6, no. 4.
https://search.emarefa.net/detail/BIM-325132
Modern Language Association (MLA)
al-Amiri, Abd al-Salam& Zayir, Iman Ahmad. Control of omni-directional mobile robot motion. al-Khwarizmi Engineering Journal Vol. 6, no. 4 (2010).
https://search.emarefa.net/detail/BIM-325132
American Medical Association (AMA)
al-Amiri, Abd al-Salam& Zayir, Iman Ahmad. Control of omni-directional mobile robot motion. al-Khwarizmi Engineering Journal. 2010. Vol. 6, no. 4.
https://search.emarefa.net/detail/BIM-325132
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-325132