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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Autores: Moreno Blanc, Javier, Clotet Bellmunt, Eduard, Lupiañez, Ruben, Tresanchez Ribes, Marcel, Martínez Lacasa, Daniel, Pallejà Cabrè, Tomàs, Casanovas Salas, Jordi, Palacín Roca, Jordi
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2016
País:España
Institución:Universitat de Lleida (UdL)
Repositorio:Repositori Obert UdL
OAI Identifier:oai:repositori.udl.cat:10459.1/57891
Acceso en línea:https://doi.org/10.3390/s16101658
http://hdl.handle.net/10459.1/57891
Access Level:acceso abierto
Palabra clave:Holonomic motion
Assistant robot
Mobile robot motion
Omnidirectional wheel
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spelling Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR)Moreno Blanc, JavierClotet Bellmunt, EduardLupiañez, RubenTresanchez Ribes, MarcelMartínez Lacasa, DanielPallejà Cabrè, TomàsCasanovas Salas, JordiPalacín Roca, JordiHolonomic motionAssistant robotMobile robot motionOmnidirectional wheelThis 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.This work was partially funded by Indra, the University of Lleida, the RecerCaixa 2013 grant, and by the Government of Catalonia (Comissionat per a Universitats i Recerca, Departament d’Innovació, Universitats i Empresa) and the European Social Fund (ECO/1794/2015).Sensors2016info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttps://doi.org/10.3390/s16101658http://hdl.handle.net/10459.1/57891reponame:Repositori Obert UdL instname:Universitat de Lleida (UdL)InglésReproducció del document publicat a https://doi.org/10.3390/s16101658Sensors, 2016, vol.16, núm. 1658cc-by (c) Javier Moreno et al., 2016info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by/3.0/es/oai:repositori.udl.cat:10459.1/578912026-06-24T12:42:17Z
dc.title.none.fl_str_mv Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR)
title Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR)
spellingShingle Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR)
Moreno Blanc, Javier
Holonomic motion
Assistant robot
Mobile robot motion
Omnidirectional wheel
title_short Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR)
title_full Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR)
title_fullStr Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR)
title_full_unstemmed Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR)
title_sort Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR)
dc.creator.none.fl_str_mv Moreno Blanc, Javier
Clotet Bellmunt, Eduard
Lupiañez, Ruben
Tresanchez Ribes, Marcel
Martínez Lacasa, Daniel
Pallejà Cabrè, Tomàs
Casanovas Salas, Jordi
Palacín Roca, Jordi
author Moreno Blanc, Javier
author_facet Moreno Blanc, Javier
Clotet Bellmunt, Eduard
Lupiañez, Ruben
Tresanchez Ribes, Marcel
Martínez Lacasa, Daniel
Pallejà Cabrè, Tomàs
Casanovas Salas, Jordi
Palacín Roca, Jordi
author_role author
author2 Clotet Bellmunt, Eduard
Lupiañez, Ruben
Tresanchez Ribes, Marcel
Martínez Lacasa, Daniel
Pallejà Cabrè, Tomàs
Casanovas Salas, Jordi
Palacín Roca, Jordi
author2_role author
author
author
author
author
author
author
dc.subject.none.fl_str_mv Holonomic motion
Assistant robot
Mobile robot motion
Omnidirectional wheel
topic Holonomic motion
Assistant robot
Mobile robot motion
Omnidirectional wheel
description 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.
publishDate 2016
dc.date.none.fl_str_mv 2016
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv https://doi.org/10.3390/s16101658
http://hdl.handle.net/10459.1/57891
url https://doi.org/10.3390/s16101658
http://hdl.handle.net/10459.1/57891
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Reproducció del document publicat a https://doi.org/10.3390/s16101658
Sensors, 2016, vol.16, núm. 1658
dc.rights.none.fl_str_mv cc-by (c) Javier Moreno et al., 2016
info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by/3.0/es/
rights_invalid_str_mv cc-by (c) Javier Moreno et al., 2016
http://creativecommons.org/licenses/by/3.0/es/
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Sensors
publisher.none.fl_str_mv Sensors
dc.source.none.fl_str_mv reponame:Repositori Obert UdL
instname:Universitat de Lleida (UdL)
instname_str Universitat de Lleida (UdL)
reponame_str Repositori Obert UdL
collection Repositori Obert UdL
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,812455

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