Motion control of holonomic wheeled mobile robot with modular actuation [Elektronische Ressource] / vorgelegt von Ahmed El-Shenawy

The University of MannheimInstitute of Computer EngineeringMOTION CONTROL OF HOLONOMIC WHEELED MOBILEROBOT WITH MODULAR ACTUATIONInauguraldissertationzur Erlangung des akademischen Gradeseines Doktors der Naturwissenschaftender Universitaet Mannheimc 2010vorgelegt vonAhmed Khamies El-Shenawyaus Aegypten, AlexandriaMannheim15 April 2010∗The thesis of Ahmed Khamies El-Shenawy was reviewed and approved by thefollowing:Dekan:Professor Dr. Felix Freiling,Mannheim UniversityReferent:Professor Dr. Essam Badreddin,Heidelberg UniversityKorreferent:Professor Dr. Reinhard MaennerHeidelberg UniversityTag der muendlichen Pruefung: 15. April 2010.AbstractThis thesis proposes a control scheme for a new holonomic wheeled mobile robot.The platform, which is called C3P (Caster 3 wheels Platform), is designed andbuilt by the Automation Lab., University of Heidelberg. The platform has threedriven caster wheels, which are used because of their simple construction and easymaintenance.TheC3Phasmodularactuatorsandsensorsconfigurations. Therobot’sactua-tion scheme produces singularity difficulties for some wheel steering configuration,described as the following: When all wheels yield the same steering angle value,the C3P cannot be actuated in the direction perpendicular to the wheel velocityvector. The C3P has a modular sensing scheme defined by sensing the steeringangleandthewheelangularvelocityofeachcasterwheel.