Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR)

This paper presents the design, implementation and validation of the three-wheel holonomic motion system of a mobile robot designed to operate in homes. The holonomic motion system is described in terms of mechanical design and electronic control. The paper analyzes the kinematics of the motion syst...
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Gespeichert in:

Autor*in:	Javier Moreno [verfasserIn] Eduard Clotet [verfasserIn] Ruben Lupiañez [verfasserIn] Marcel Tresanchez [verfasserIn] Dani Martínez [verfasserIn] Tomàs Pallejà [verfasserIn] Jordi Casanovas [verfasserIn] Jordi Palacín [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2016

Schlagwörter:	holonomic motion assistant robot mobile robot motion omnidirectional wheel

Übergeordnetes Werk:	In: Sensors - MDPI AG, 2003, 16(2016), 10, p 1658
Übergeordnetes Werk:	volume:16 ; year:2016 ; number:10, p 1658

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.3390/s16101658

Katalog-ID:	DOAJ032910487

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spelling	10.3390/s16101658 doi (DE-627)DOAJ032910487 (DE-599)DOAJ55203798c1b343c9b8cc7bb9e54f66ee DE-627 ger DE-627 rakwb eng TP1-1185 Javier Moreno verfasserin aut Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR) 2016 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper presents the design, implementation and validation of the three-wheel holonomic motion system of a mobile robot designed to operate in homes. The holonomic motion system is described in terms of mechanical design and electronic control. The paper analyzes the kinematics of the motion system and validates the estimation of the trajectory comparing the displacement estimated with the internal odometry of the motors and the displacement estimated with a SLAM procedure based on LIDAR information. Results obtained in different experiments have shown a difference on less than 30 mm between the position estimated with the SLAM and odometry, and a difference in the angular orientation of the mobile robot lower than 5° in absolute displacements up to 1000 mm. holonomic motion assistant robot mobile robot motion omnidirectional wheel Chemical technology Eduard Clotet verfasserin aut Ruben Lupiañez verfasserin aut Marcel Tresanchez verfasserin aut Dani Martínez verfasserin aut Tomàs Pallejà verfasserin aut Jordi Casanovas verfasserin aut Jordi Palacín verfasserin aut In Sensors MDPI AG, 2003 16(2016), 10, p 1658 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:16 year:2016 number:10, p 1658 https://doi.org/10.3390/s16101658 kostenfrei https://doaj.org/article/55203798c1b343c9b8cc7bb9e54f66ee kostenfrei http://www.mdpi.com/1424-8220/16/10/1658 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 16 2016 10, p 1658
allfields_unstemmed	10.3390/s16101658 doi (DE-627)DOAJ032910487 (DE-599)DOAJ55203798c1b343c9b8cc7bb9e54f66ee DE-627 ger DE-627 rakwb eng TP1-1185 Javier Moreno verfasserin aut Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR) 2016 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper presents the design, implementation and validation of the three-wheel holonomic motion system of a mobile robot designed to operate in homes. The holonomic motion system is described in terms of mechanical design and electronic control. The paper analyzes the kinematics of the motion system and validates the estimation of the trajectory comparing the displacement estimated with the internal odometry of the motors and the displacement estimated with a SLAM procedure based on LIDAR information. Results obtained in different experiments have shown a difference on less than 30 mm between the position estimated with the SLAM and odometry, and a difference in the angular orientation of the mobile robot lower than 5° in absolute displacements up to 1000 mm. holonomic motion assistant robot mobile robot motion omnidirectional wheel Chemical technology Eduard Clotet verfasserin aut Ruben Lupiañez verfasserin aut Marcel Tresanchez verfasserin aut Dani Martínez verfasserin aut Tomàs Pallejà verfasserin aut Jordi Casanovas verfasserin aut Jordi Palacín verfasserin aut In Sensors MDPI AG, 2003 16(2016), 10, p 1658 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:16 year:2016 number:10, p 1658 https://doi.org/10.3390/s16101658 kostenfrei https://doaj.org/article/55203798c1b343c9b8cc7bb9e54f66ee kostenfrei http://www.mdpi.com/1424-8220/16/10/1658 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 16 2016 10, p 1658
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allfieldsSound	10.3390/s16101658 doi (DE-627)DOAJ032910487 (DE-599)DOAJ55203798c1b343c9b8cc7bb9e54f66ee DE-627 ger DE-627 rakwb eng TP1-1185 Javier Moreno verfasserin aut Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR) 2016 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper presents the design, implementation and validation of the three-wheel holonomic motion system of a mobile robot designed to operate in homes. The holonomic motion system is described in terms of mechanical design and electronic control. The paper analyzes the kinematics of the motion system and validates the estimation of the trajectory comparing the displacement estimated with the internal odometry of the motors and the displacement estimated with a SLAM procedure based on LIDAR information. Results obtained in different experiments have shown a difference on less than 30 mm between the position estimated with the SLAM and odometry, and a difference in the angular orientation of the mobile robot lower than 5° in absolute displacements up to 1000 mm. holonomic motion assistant robot mobile robot motion omnidirectional wheel Chemical technology Eduard Clotet verfasserin aut Ruben Lupiañez verfasserin aut Marcel Tresanchez verfasserin aut Dani Martínez verfasserin aut Tomàs Pallejà verfasserin aut Jordi Casanovas verfasserin aut Jordi Palacín verfasserin aut In Sensors MDPI AG, 2003 16(2016), 10, p 1658 (DE-627)331640910 (DE-600)2052857-7 14248220 nnns volume:16 year:2016 number:10, p 1658 https://doi.org/10.3390/s16101658 kostenfrei https://doaj.org/article/55203798c1b343c9b8cc7bb9e54f66ee kostenfrei http://www.mdpi.com/1424-8220/16/10/1658 kostenfrei https://doaj.org/toc/1424-8220 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_206 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2057 GBV_ILN_2111 GBV_ILN_2507 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 16 2016 10, p 1658
language	English
source	In Sensors 16(2016), 10, p 1658 volume:16 year:2016 number:10, p 1658
sourceStr	In Sensors 16(2016), 10, p 1658 volume:16 year:2016 number:10, p 1658
format_phy_str_mv	Article
institution	findex.gbv.de
topic_facet	holonomic motion assistant robot mobile robot motion omnidirectional wheel Chemical technology
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container_title	Sensors
authorswithroles_txt_mv	Javier Moreno @@aut@@ Eduard Clotet @@aut@@ Ruben Lupiañez @@aut@@ Marcel Tresanchez @@aut@@ Dani Martínez @@aut@@ Tomàs Pallejà @@aut@@ Jordi Casanovas @@aut@@ Jordi Palacín @@aut@@
publishDateDaySort_date	2016-01-01T00:00:00Z
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callnumber-first	T - Technology
author	Javier Moreno
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topic	misc TP1-1185 misc holonomic motion misc assistant robot misc mobile robot motion misc omnidirectional wheel misc Chemical technology
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title	Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR)
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title_auth	Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR)
abstract	This paper presents the design, implementation and validation of the three-wheel holonomic motion system of a mobile robot designed to operate in homes. The holonomic motion system is described in terms of mechanical design and electronic control. The paper analyzes the kinematics of the motion system and validates the estimation of the trajectory comparing the displacement estimated with the internal odometry of the motors and the displacement estimated with a SLAM procedure based on LIDAR information. Results obtained in different experiments have shown a difference on less than 30 mm between the position estimated with the SLAM and odometry, and a difference in the angular orientation of the mobile robot lower than 5° in absolute displacements up to 1000 mm.
abstractGer	This paper presents the design, implementation and validation of the three-wheel holonomic motion system of a mobile robot designed to operate in homes. The holonomic motion system is described in terms of mechanical design and electronic control. The paper analyzes the kinematics of the motion system and validates the estimation of the trajectory comparing the displacement estimated with the internal odometry of the motors and the displacement estimated with a SLAM procedure based on LIDAR information. Results obtained in different experiments have shown a difference on less than 30 mm between the position estimated with the SLAM and odometry, and a difference in the angular orientation of the mobile robot lower than 5° in absolute displacements up to 1000 mm.
abstract_unstemmed	This paper presents the design, implementation and validation of the three-wheel holonomic motion system of a mobile robot designed to operate in homes. The holonomic motion system is described in terms of mechanical design and electronic control. The paper analyzes the kinematics of the motion system and validates the estimation of the trajectory comparing the displacement estimated with the internal odometry of the motors and the displacement estimated with a SLAM procedure based on LIDAR information. Results obtained in different experiments have shown a difference on less than 30 mm between the position estimated with the SLAM and odometry, and a difference in the angular orientation of the mobile robot lower than 5° in absolute displacements up to 1000 mm.
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title_short	Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR)
url	https://doi.org/10.3390/s16101658 https://doaj.org/article/55203798c1b343c9b8cc7bb9e54f66ee http://www.mdpi.com/1424-8220/16/10/1658 https://doaj.org/toc/1424-8220
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