{"title":"The Effect of an Off-Centered Orientable Wheel on Motion Characteristics of a Mobile Robot","authors":"R. Beniak, T. Pyka","doi":"10.1109/MMAR.2018.8485959","DOIUrl":null,"url":null,"abstract":"This paper discusses a comprehensive model of a mobile robot with a no-slip self-adjusting off-centered orientable wheel. Subsequently, by application of dynamic control, a comparison is made between two robot models: one accounting for the effect of the off-centered orientable wheel and another one excluding this effect. The aspects considered in the study include not only the error resulting from the drive along a given trajectory but also the consumption of energy of the compared models.","PeriodicalId":201658,"journal":{"name":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 23rd International Conference on Methods & Models in Automation & Robotics (MMAR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MMAR.2018.8485959","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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Abstract
This paper discusses a comprehensive model of a mobile robot with a no-slip self-adjusting off-centered orientable wheel. Subsequently, by application of dynamic control, a comparison is made between two robot models: one accounting for the effect of the off-centered orientable wheel and another one excluding this effect. The aspects considered in the study include not only the error resulting from the drive along a given trajectory but also the consumption of energy of the compared models.
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