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nalakame / Omni-robot-Generalized-momenta-dynamics-and-PID

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This Mathematica notebook provides development of a Forward Kinematic model, Inverse Kinematic Model, and Dynamic model using Generalized Momenta method of a Universal Omni Wheeled mobile robot. Also, a PID trajectory tracking controller was developed to track different trajectories with very small error.

kinematics dynamics mobile-robots pid-control sliding-mode-control lqr-controller path-following pole-placement
  • Updated Sep 13, 2024
  • Mathematica

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