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2021 | OriginalPaper | Chapter

Motion Control of Omnidirectional Mobile Robot Using Bond Graph and Flatness-Based Controller

Authors : Saumya Ranjan Sahoo, Shital S. Chiddarwar

Published in: Mechanism and Machine Science

Publisher: Springer Singapore

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Abstract

Omnidirectional mobile robots are widely used in various fields like warehouses, hospitals, military and nuclear power plants. Due to independent actuation of each wheel, it facilitates the highest order maneuverability and mobility. However, it being a complex mechatronics system, dynamic modeling and control is a challenging task. In this paper, an attempt is made to model a four-wheel omnidirectional mobile robot using highly intuitive bond graph technique. The dynamic model thus obtained is used to derive the control law for the robot. Control of the robot along desired trajectory is attained using principle of differential flatness theory. The validation of the approach is done in real time by performing simulation and experimental trials. These trials revealed effectiveness of bond graph technique for dynamic modeling of robot and flatness-based controller for smooth and accurate trajectory tracking.

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Metadata
Title
Motion Control of Omnidirectional Mobile Robot Using Bond Graph and Flatness-Based Controller
Authors
Saumya Ranjan Sahoo
Shital S. Chiddarwar
Copyright Year
2021
Publisher
Springer Singapore
Book
Mechanism and Machine Science

Print ISBN: 978-981-15-4476-7

Electronic ISBN: 978-981-15-4477-4

Copyright Year: 2021

DOI
https://doi.org/10.1007/978-981-15-4477-4_58

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