Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR)
Moreno Blanc, Javier
MetadataShow full item record
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.
Is part ofSensors, 2016, vol.16, núm. 1658
The following license files are associated with this item:
Except where otherwise noted, this item's license is described as cc-by (c) Javier Moreno et al., 2016
Showing items related by title, author, creator and subject.
Measurement of vibrations in two tower-typed assistant personal robot implementations with and without a passive suspension system Moreno Blanc, Javier; Clotet Bellmunt, Eduard; Tresánchez Ribes, Marcel; Martínez Lacasa, Daniel; Casanovas Salas, Jordi; Palacín Roca, Jordi (MDPI, 2017)This paper presents the vibration pattern measurement of two tower-typed holonomic mobile robot prototypes: one based on a rigid mechanical structure, and the other including a passive suspension system. Specific to the ...
Martínez Lacasa, Daniel; Clotet Bellmunt, Eduard; Moreno Blanc, Javier; Tresánchez Ribes, Marcel; Palacín Roca, Jordi (Springer International Publishing Switzerland, 2016)This paper proposes a control system design for a mobile robot assistant based on a multi-agent architecture. The robotic platform used in this paper is a second generation Assistant Personal Robot (APR-02) with an own ...
Assistant Personal Robot (APR): conception and application of a tele-operated assisted living robot Clotet Bellmunt, Eduard; Martínez Lacasa, Daniel; Moreno Blanc, Javier; Tresánchez Ribes, Marcel; Palacín Roca, Jordi (MDPI, 2016)This paper presents the technical description, mechanical design, electronic components, software implementation and possible applications of a tele-operated mobile robot designed as an assisted living tool. This robotic ...