Kinematic motion studies of an OmniDirectional mobile robot

Jennifer R. Field, Mishah U. Salman

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

Actuator failure may severely affect the performance of mobile robots and vehicles. This study serves to evaluate how a mobile system responds under various actuator failure modes to determine appropriate methods to satisfy performance objectives. We evaluate a kinematically symmetric holonomic mobile robot while fully actuable (with no motor/wheel failures), as well as under actuator failure conditions. Closed-loop state feedback is applied to the system to observe performance and self-correction under both nominal and failure mode conditions, and resulting performance is evaluated. Observations of these conditions motivate the need to address failure modes within the controller architecture.

Original languageEnglish
Title of host publicationProceedings - 2017 IEEE 5th International Symposium on Robotics and Intelligent Sensors, IRIS 2017
Pages318-323
Number of pages6
ISBN (Electronic)9781538613429
DOIs
StatePublished - 8 Jan 2018
Event5th IEEE International Symposium on Robotics and Intelligent Sensors, IRIS 2017 - Ottawa, Canada
Duration: 5 Oct 20177 Oct 2017

Publication series

NameProceedings - 2017 IEEE 5th International Symposium on Robotics and Intelligent Sensors, IRIS 2017
Volume2018-January

Conference

Conference5th IEEE International Symposium on Robotics and Intelligent Sensors, IRIS 2017
Country/TerritoryCanada
CityOttawa
Period5/10/177/10/17

Keywords

  • accommodation
  • actuator
  • failure
  • mobile
  • omindirectional
  • robot

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