Mobile robots play a key role in a number of different automation tasks. Robots capable of omnidirectional motion allow for a particularly very flexible operation. They are able to move in every direction, regardless of their orientation. A common task for industrial mobile robots is trajectory tracking. These trajectories often are periodic, e. g., if the same path is followed repeatedly through a large warehouse or at an assembly line. In the contribution, it is shown how data-based techniques can be used to tailor a motion model to a specific re-occurring reference, resulting in highly accurate tracking. The results of this work are finally validated in real-world hardware experiments. This novel contribution builds upon preliminary work but, for the first time, includes an adaptive component for high accuracy tracking of periodic references as well as a general approach to generating periodic input and state references based on a dynamic model of a robot.
High Accuracy Data-Based Trajectory Tracking of an Omnidirectional Mobile Robot
Mechan. Machine Science
International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022
2022-04-23
8 pages
Article/Chapter (Book)
Electronic Resource
English
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