Evaluation and Correction of Systematic Motion Errors in a Compact Three-Wheeled Omnidirectional Platform Based on Servomotors
Source abstract
Abstract
This paper evaluates and corrects systematic odometry errors in a compact omnidirectional mobile platform equipped with three omni-wheels driven by digital servomotors featuring velocity control capabilities. Compared to differential-drive platforms, omnidirectional platforms offer the significant advantage of being able to translate in any direction while rotating simultaneously. The motion capabilities of the platform have been experimentally evaluated, and its systematic motion errors analyzed and corrected. The final motion capabilities achieved confirm that a basic three-wheeled omnidirectional platform driven by servomotors is suitable for use as a testbench for control algorithms and trajectory-tracking experiments.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Control and Dynamics of Mobile Robots · Robotic Mechanisms and Dynamics · Robotic Path Planning Algorithms
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Automation and Robotics Laboratory, Universitat de Lleida, 25001 Lleida, Spain
Funding
Ministerio de Ciencia, Innovación y Universidades · Departament de Recerca i Universitats
References (40)
Show source-provided references
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