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  • Please use this identifier to cite or link to this item: https://repositorio.uti.edu.ec//handle/123456789/3038
    Title: Modeling and Control of Omnidirectional Robots with Displaced Center of Mass
    Authors: Gallo, Luis
    Paste, Byron
    Varela-Aldás, José
    Andaluz, Víctor
    Issue Date: 2022
    Publisher: Smart Innovation, Systems and Technologies. Volume 256, Pages 703 - 712. International Conference in Information Technology and Education, ICITED 2021. Sao Paulo. 15 July 2021 through 17 July 2021
    Abstract: This work focuses on the design and implementation of a control algorithm for tracking trajectories of an omnidirectional robotic platform. The design is based on a dynamic model that considers the center of mass displaced; this model is obtained by formulating Euler–Lagrange considering the kinetic energy that acts on the robotic system. This type of model is used for when robots carry loads and these are not located in the center of the robot directly affecting the dynamics of the robotic platform; validation of the obtained model is carried out experimentally with an identification algorithm using the robotic platform built.
    URI: https://link.springer.com/chapter/10.1007/978-981-16-5063-5_57
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