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Modeling and friction estimation for wheeled omnidirectional mobile robots

Published online by Cambridge University Press:  12 February 2015

Andre G. S. Conceicao ,
Mariane D. Correia  and
Luciana Martinez
Andre G. S. Conceicao*
Affiliation:
LaR- Robotics Lab and Department of Electrical Engineering, Federal University of Bahia, Rua Aristides Novis, 02, 40210-630, Salvador, BA, Brazil E-mails: andre.gustavo@ufba.br, marianedc@ufba.br, lucianam@ufba.br
Mariane D. Correia
Affiliation:
LaR- Robotics Lab and Department of Electrical Engineering, Federal University of Bahia, Rua Aristides Novis, 02, 40210-630, Salvador, BA, Brazil E-mails: andre.gustavo@ufba.br, marianedc@ufba.br, lucianam@ufba.br
Luciana Martinez
Affiliation:
LaR- Robotics Lab and Department of Electrical Engineering, Federal University of Bahia, Rua Aristides Novis, 02, 40210-630, Salvador, BA, Brazil E-mails: andre.gustavo@ufba.br, marianedc@ufba.br, lucianam@ufba.br
*
*Corresponding author. E-mail: andre.gustavo@ufba.br
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Summary

In this study, a model for wheeled mobile robots that includes a static friction model in the force balance at the robot's center of mass is presented. Additionally, a least-squares method to linearly combine functions is proposed to estimate the friction coefficients. The experimental and simulation results are discussed to demonstrate the effectiveness of this approach in indoor environments for two floor types.

Keywords

Mechatronic systemsMobile robotsRobot DynamicsFrictionParameter estimation
Type
Articles
Information
Robotica , Volume 34 , Issue 9 , September 2016 , pp. 2140 - 2150
Copyright
Copyright © Cambridge University Press 2015 

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