Kinematics Modeling and Motions Analysis of Non-holonomic Mobile Robot

Uddin, Nur and Nugraha, Hari and Manurung, Auralius and Hermawan, Hendi and Darajat, Teddy Mohamad (2022) Kinematics Modeling and Motions Analysis of Non-holonomic Mobile Robot. In: In 2022 5th International Conference on Information and Communications Technology (ICOIACT). Institute of Electrical and Electronics Engineers. ISBN 978-1-6654-5140-6

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Abstract

A study on kinematics modeling of non-holonomic mobile robot and the motion analysis is presented. The robot is a four-wheeled robot with two active wheels and two passive wheels. Each active wheel is driven by an independent DC motor. The robot has two degrees of freedom (2-DOF) of motions including translation and rotation. Kinematics modeling is carried out to obtain a mathematics model representing the robot motions. The resulted model is verified through analyzing the robot motion using calculus of parametric equations. A computer program is built based on the model for numeric simulation and visualization of the robot motions. Executing the program resulted in numerical data of the robot motion that was confirmed by an animation of the robot movement. The numerical data includes the position, orientation, linear and angular velocities of the robot, and the corresponding DC motors speed.

Item Type:	Prosiding
Subjects:	T Technology > T Technology (General)
Divisions:	Fakultas Teknologi dan Desain > Informatika
Depositing User:	Admin Repository
Date Deposited:	16 Jan 2023 06:23
Last Modified:	16 Jan 2023 06:23
URI:	http://eprints.upj.ac.id/id/eprint/4193

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