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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Bibliographic Details
Authors: Moreno Blanc, Javier, Clotet Bellmunt, Eduard, Lupiañez, Ruben, Tresanchez Ribes, Marcel, Martínez Lacasa, Daniel, Pallejà Cabrè, Tomàs, Casanovas Salas, Jordi, Palacín Roca, Jordi
Format: article
Status:Published version
Publication Date:2016
Country:España
Institution:Universitat de Lleida (UdL)
Repository:Repositori Obert UdL
OAI Identifier:oai:repositori.udl.cat:10459.1/57891
Online Access:https://doi.org/10.3390/s16101658
http://hdl.handle.net/10459.1/57891
Access Level:Open access
Keyword:Holonomic motion
Assistant robot
Mobile robot motion
Omnidirectional wheel
Description
Summary: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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