2004 · 103 citations · 22 references
EngineeringMechatronics EngineeringRobotics EngineeringMobile RoboticsRobot DynamicsRoboticsDynamic ControlMobile Robot ControlTrajectory DynamicsTrajectory GenerationNonlinear Robot ControlNonlinear Robot DynamicsOmnidirectional LocomotionOmnidirectional Mobile RobotsTrajectory Linearization
In this paper, modeling and nonlinear controller design for an omnidirectional mobile robot are presented. Based on the robot dynamics model, a nonlinear controller is designed using the trajectory linearization control (TLC) method. Some simulation results of the controller are presented.
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