title: Design, Implementation and Validation of the Three-Wheel Holonomic Motion System of the Assistant Personal Robot (APR).
abstract: This paper presents the design, implementation and validation of the three-wheel holonomic motion system of a mobile robot designed to operate in homes. The holonomic motion system is described in terms of mechanical design and electronic control. The paper analyzes the kinematics of the motion system and validates the estimation of the trajectory comparing the displacement estimated with the internal odometry of the motors and the displacement estimated with a SLAM procedure based on LIDAR information. Results obtained in different experiments have shown a difference on less than 30 mm between the position estimated with the SLAM and odometry, and a difference in the angular orientation of the mobile robot lower than 5° in absolute displacements up to 1000 mm.
authors.affiliation: Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain. jmoreno@diei.udl.cat.
authors.forename: Javier
authors.initials: J
authors.lastname: Moreno
authors.affiliation: Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain. eclotet@diei.udl.cat.
authors.forename: Eduard
authors.initials: E
authors.lastname: Clotet
authors.affiliation: Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain. robotica@udl.cat.
authors.forename: Ruben
authors.initials: R
authors.lastname: Lupiañez
authors.affiliation: Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain. mtresanchez@diei.udl.cat.
authors.forename: Marcel
authors.initials: M
authors.lastname: Tresanchez
authors.affiliation: Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain. dmartinez@diei.udl.cat.
authors.forename: Dani
authors.initials: D
authors.lastname: Martínez
authors.affiliation: Barton Laboratory, Cornell University, Geneva, NY 14456, USA. tpc63@cornell.edu.
authors.forename: Tomàs
authors.initials: T
authors.lastname: Pallejà
authors.affiliation: Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain. jcasanovas@quimica.udl.cat.
authors.forename: Jordi
authors.initials: J
authors.lastname: Casanovas
authors.affiliation: Department of Computer Science and Industrial Engineering, University of Lleida, 25001 Lleida, Spain. palacin@diei.udl.cat.
authors.forename: Jordi
authors.initials: J
authors.lastname: Palacín
mesh_terms: D000465:Algorithms; D001696:Biomechanical Phenomena; D004867:Equipment Design; D006801:Humans; D009038:Motion; D012371:Robotics
keywords: assistant robot; holonomic motion; mobile robot motion; omnidirectional wheel