Please use this identifier to cite or link to this item: https://doi.org/10.1109/ICAR.2005.1507465
Title: Torque distribution and slip minimization in an omnidirectional mobile base
Authors: Li, Y.P.
Oetomo, D. 
Ang Jr., M.H. 
Lim, C.W.
Issue Date: 2005
Source: Li, Y.P.,Oetomo, D.,Ang Jr., M.H.,Lim, C.W. (2005). Torque distribution and slip minimization in an omnidirectional mobile base. 2005 International Conference on Advanced Robotics, ICAR '05, Proceedings 2005 : 567-572. ScholarBank@NUS Repository. https://doi.org/10.1109/ICAR.2005.1507465
Abstract: Two forward kinematic models which are used in the control of an omnidirectional mobile base are evaluated. These two models result in different sensitivities to joint position error. The analysis and experimental results in this paper demonstrate the capabilities of dynamic model in improving the sensitivity of the forward kinematic model, resulting in a more even distribution of joint torques and in minimizing the amount of slip between wheels. © 2005 IEEE.
Source Title: 2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
URI: http://scholarbank.nus.edu.sg/handle/10635/73967
ISBN: 0780391772
DOI: 10.1109/ICAR.2005.1507465
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