Modelagem Dinâmica de Robôs a Rodas do Tipo Omnidirecional e Diferencial - Plataforma Educacional LIMO

Abstract

This article identifies parameters of the dynamic models for differential and omnidirectional robots, using the AgileX LIMO platform and an Optitrack installation at the Laboratory of Autonomous and Intelligent Robots (LAB-AIR) of the Graduate Program on Electrical Engineering of the Federal University of Espírito Santo. The study evaluates the efficacy of models from the literature and one developed in the laboratory, focusing on the precision and success of the robots in accomplishing missions in diverse scenarios. After identifying the models, control experiments using controllers designed considering such models were conducted to test the models under different conditions. The results help optimize the precision and operational efficiency of the robots whose models were identified, thus contributing to developing more effective and robust control strategies.