Model Predictive Control for Omnidirectional Small Size Robot with Motor and Non-Slipping Constraints

Felipe Pinheiro; Marcos Máximo; Takashi Yoneyama

Model Predictive Control for Omnidirectional Small Size Robot with Motor and Non-Slipping Constraints

Felipe Pinheiro ITA
Marcos Máximo ITA
Takashi Yoneyama ITA

Abstract

Model Predictive Control for Omnidirectional Small Size Robot with Motor and Non-Slipping Constraints

Keywords: Wheels, Mobile robots, Robot kinematics, Friction, Mathematical model, Force

IEEE Xplore

Published

2019-10-23

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PINHEIRO, Felipe; MÁXIMO, Marcos; YONEYAMA, Takashi. Model Predictive Control for Omnidirectional Small Size Robot with Motor and Non-Slipping Constraints. In: BRAZILIAN SYMPOSIUM ON ROBOTICS AND LATIN AMERICAN ROBOTICS SYMPOSIUM (SBR/LARS), 16. , 2019, Rio Grande. Anais [...]. Porto Alegre: Sociedade Brasileira de Computação, 2019 . p. 13-18.