Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR)

Moreno Blanc, Javier; Clotet Bellmunt, Eduard; Lupiañez, Ruben; Tresánchez Ribes, Marcel; Martínez Lacasa, Daniel; Pallejà Cabrè, Tomàs; Casanovas Salas, Jordi; Palacín Roca, Jordi

doi:https://doi.org/10.3390/s16101658

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Issue date

2016

Author

Moreno Blanc, Javier

Clotet Bellmunt, Eduard

Lupiañez, Ruben

Tresánchez Ribes, Marcel

Martínez Lacasa, Daniel

Pallejà Cabrè, Tomàs

Casanovas Salas, Jordi

Palacín Roca, Jordi

Abstract

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.