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

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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
Suggested citation
Moreno Blanc, Javier; Clotet Bellmunt, Eduard; Lupiañez, Ruben; Tresánchez Ribes, Marcel; Martínez Lacasa, Daniel; Pallejà Cabrè, Tomàs; ... Palacín Roca, Jordi. (2016) . Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR). Sensors, 2016, vol.16, núm. 1658. https://doi.org/10.3390/s16101658.
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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.
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http://hdl.handle.net/10459.1/57891
DOI
https://doi.org/10.3390/s16101658
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Sensors, 2016, vol.16, núm. 1658
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cc-by (c) Javier Moreno et al., 2016
Except where otherwise noted, this item's license is described as cc-by (c) Javier Moreno et al., 2016