NDLI: Motion controller design and embedded realization for Mecanum wheeled omnidirectional robots

Content Provider	IEEE Xplore Digital Library
Author	Ching-Chih Tsai Feng-Chun Tai Ying-Ru Lee
Copyright Year	2011
Description	Author affiliation: Department of Electrical Engineering, National Chung Hsing University, 250, Kuo-Kuang Road, Taichung 40227, Taiwan, ROC (Ching-Chih Tsai; Feng-Chun Tai; Ying-Ru Lee)
Abstract	This paper presents techniques for design and embedded implementation of a kinematics controller for a Mecanum wheeled omnidirectional robot (MWOR). The kinematic controller is designed based on feedback linearization method, and then shown asymptotically stable via the Lyapunov stability theory. The proposed motion control law has been implemented into an FPGA development board using System-on-a-programmable-chip (SoPC). Simulations and experimental results are conducted to illustrate the effectiveness and performance of the proposed controller for Mecanum wheeled omnidirectional robots.
Starting Page	546
Ending Page	551
File Size	3493278
Page Count	6
File Format	PDF
ISBN	9781612846989
e-ISBN	9781612847009
DOI	10.1109/WCICA.2011.5970573
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-21
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Trajectory Mobile robots Robot kinematics Mathematical model Hardware SoPC Feeback linaerization FPGA kinematic control Mecanum wheel omnidirectional wheel
Content Type	Text
Resource Type	Article

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Motion controller design and embedded realization for Mecanum wheeled omnidirectional robots