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ohiou1173804459.pdf (8.11 MB)
ETD Abstract Container
Abstract Header
Omni-directional locomotion for mobile robots
Author Info
Carter, Brian Edward
Permalink:
http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1173804459
Abstract Details
Year and Degree
2001, Master of Science (MS), Ohio University, Mechanical Engineering (Engineering).
Abstract
In this Thesis, a brief overview of mobile robots and omni-directional robots is presented, as well as a detailed history of the RoboCup competition. The player robot design process undertaken by the Ohio University Mechanical Engineering department led by the author) is discussed in detail, and the inverse kinematic equations and dynamic equations of motion are derived. These dynamic equations were then used to create two Simulink simulations, the simple and complex dynamic models. A third simulation was created to compensate for the slipping disturbances in the wheel motivated by initial experimental work. The most accurate of the simulations (the third, dubbed the Slip Simulation) was then compared with the experimental data.
Committee
Robert Williams, II (Advisor)
Pages
86 p.
Subject Headings
Engineering, Mechanical
Keywords
Mobile Robots
;
Omni-Directional Robots
;
RoboCup Competition
;
Dynamic Equations
;
inverse kinematic equations
;
Simulink simulations
;
slipping disturbances
Recommended Citations
Refworks
EndNote
RIS
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Citations
Carter, B. E. (2001).
Omni-directional locomotion for mobile robots
[Master's thesis, Ohio University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1173804459
APA Style (7th edition)
Carter, Brian.
Omni-directional locomotion for mobile robots.
2001. Ohio University, Master's thesis.
OhioLINK Electronic Theses and Dissertations Center
, http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1173804459.
MLA Style (8th edition)
Carter, Brian. "Omni-directional locomotion for mobile robots." Master's thesis, Ohio University, 2001. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1173804459
Chicago Manual of Style (17th edition)
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Document number:
ohiou1173804459
Download Count:
934
Copyright Info
© 2001, all rights reserved.
This open access ETD is published by Ohio University and OhioLINK.