Kinematic analysis and trajectory control of the Rice omni-directional mobile robot (Rice University, Texas)

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dc.contributor.advisorCheatham, John B., Jr.
dc.creatorAdnan, Sarmad
dc.date.accessioned2009-06-04T00:11:50Z
dc.date.available2009-06-04T00:11:50Z
dc.date.issued1989
dc.description.abstractThe forward/inverse kinematics, trajectory planning and control system for a mobile omni-directional robot are analyzed and implemented. For kinematic analysis each wheel of the robot has been modeled as a "higher pair" joint. Both the forward and inverse kinematic solutions of the robot are dealt with. The trajectory planning for the robot is done on two levels, a global robot trajectory and individual wheel trajectories. A simple, Linear Segment with Parabolic Blends, trajectory is used on the local, wheel level. On the global level the robot can be made to move along higher order trajectories. A PID control system for the robot is implemented for this purpose. Using a hierarchical control scheme the wheel encoder feedback is converted to global motion feedback. This control scheme does not account for wheel slippage.
dc.format.extent122 p.en_US
dc.format.mimetypeapplication/pdf
dc.identifier.callnoTHESIS M.E. 1989 ADNAN
dc.identifier.citationAdnan, Sarmad. "Kinematic analysis and trajectory control of the Rice omni-directional mobile robot (Rice University, Texas)." (1989) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/13337">https://hdl.handle.net/1911/13337</a>.
dc.identifier.urihttps://hdl.handle.net/1911/13337
dc.language.isoeng
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.
dc.subjectMechanical engineering
dc.subjectElectronics
dc.subjectElectrical engineering
dc.titleKinematic analysis and trajectory control of the Rice omni-directional mobile robot (Rice University, Texas)
dc.typeThesis
dc.type.materialText
thesis.degree.departmentMechanical Engineering
thesis.degree.disciplineEngineering
thesis.degree.grantorRice University
thesis.degree.levelMasters
thesis.degree.nameMaster of Science
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