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Sensors 2016, 16(10), 1658; doi:10.3390/s16101658

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

1
Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain
2
Barton Laboratory, Cornell University, Geneva, NY 14456, USA
*
Author to whom correspondence should be addressed.
Academic Editor: Gonzalo Pajares Martinsanz
Received: 15 June 2016 / Revised: 27 September 2016 / Accepted: 29 September 2016 / Published: 10 October 2016
(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Spain 2016)

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. View Full-Text
Keywords: holonomic motion; assistant robot; mobile robot motion; omnidirectional wheel holonomic motion; assistant robot; mobile robot motion; omnidirectional wheel
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Moreno, J.; Clotet, E.; Lupiañez, R.; Tresanchez, M.; Martínez, D.; Pallejà, T.; Casanovas, J.; Palacín, J. Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR). Sensors 2016, 16, 1658.

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