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Please use this identifier to cite or link to this item: https://doi.org/10.1109/ICAR.2005.1507465
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dc.titleTorque distribution and slip minimization in an omnidirectional mobile base
dc.contributor.authorLi, Y.P.
dc.contributor.authorOetomo, D.
dc.contributor.authorAng Jr., M.H.
dc.contributor.authorLim, C.W.
dc.date.accessioned2014-06-19T05:41:31Z
dc.date.available2014-06-19T05:41:31Z
dc.date.issued2005
dc.identifier.citationLi, 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. <a href="https://doi.org/10.1109/ICAR.2005.1507465" target="_blank">https://doi.org/10.1109/ICAR.2005.1507465</a>
dc.identifier.isbn0780391772
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/73967
dc.description.abstractTwo 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.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/ICAR.2005.1507465
dc.sourceScopus
dc.typeConference Paper
dc.contributor.departmentMECHANICAL ENGINEERING
dc.description.doi10.1109/ICAR.2005.1507465
dc.description.sourcetitle2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
dc.description.volume2005
dc.description.page567-572
dc.identifier.isiutNOT_IN_WOS
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