IEEE - Institute of Electrical and Electronics Engineers, Inc. - Controlling a Holonomic Mobile Robot With Singularities

Sixth World Congress on Intelligent Control and Automation

Author(s): A. El-Shenawy ; A. Wagner ; E. Badreddin
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2006
Conference Location: Dalian, China
Conference Date: 21 June 2006
Volume: 2
Page(s): 8,270 - 8,274
ISBN (Paper): 1-4244-0332-4
DOI: 10.1109/WCICA.2006.1713587
Regular:

In this paper a method is presented to control a holonomic mobile robot with singularities. The robot has 3 castor wheels, each wheel actuated by its angular velocity only. Using the proposed... View More

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