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What is Dynamic Modeling of Omnidirectional Robot about?

This document summarizes a research paper that was presented at the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. The paper presents the dynamic modeling and analysis of a three-wheeled omnidirectional mobile robot that uses MY wheels-II. First, a detailed dynamic model of the robot is derived, showing that it is a switched nonlinear system. Then, an average dynamic model is proposed using the average wheel contact radius to facilitate controller design for the switched nonlinear

Author

gabrielchanq99

Language

EN