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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Detalles Bibliográficos
Autores principales: Moreno, Javier, Clotet, Eduard, Lupiañez, Ruben, Tresanchez, Marcel, Martínez, Dani, Pallejà, Tomàs, Casanovas, Jordi, Palacín, Jordi
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2016
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5087446/
https://www.ncbi.nlm.nih.gov/pubmed/27735857
http://dx.doi.org/10.3390/s16101658
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author Moreno, Javier
Clotet, Eduard
Lupiañez, Ruben
Tresanchez, Marcel
Martínez, Dani
Pallejà, Tomàs
Casanovas, Jordi
Palacín, Jordi
author_facet Moreno, Javier
Clotet, Eduard
Lupiañez, Ruben
Tresanchez, Marcel
Martínez, Dani
Pallejà, Tomàs
Casanovas, Jordi
Palacín, Jordi
author_sort Moreno, Javier
collection PubMed
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.
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spelling pubmed-50874462016-11-07 Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR) Moreno, Javier Clotet, Eduard Lupiañez, Ruben Tresanchez, Marcel Martínez, Dani Pallejà, Tomàs Casanovas, Jordi Palacín, Jordi Sensors (Basel) Article 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. MDPI 2016-10-10 /pmc/articles/PMC5087446/ /pubmed/27735857 http://dx.doi.org/10.3390/s16101658 Text en © 2016 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC-BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Moreno, Javier
Clotet, Eduard
Lupiañez, Ruben
Tresanchez, Marcel
Martínez, Dani
Pallejà, Tomàs
Casanovas, Jordi
Palacín, Jordi
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)
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_short 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)
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5087446/
https://www.ncbi.nlm.nih.gov/pubmed/27735857
http://dx.doi.org/10.3390/s16101658
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