RAC Robotic Soccer Small-Size Team: Omnidirectional Drive Modelling and Robot Construction

João Rodrigues, Sérgio Brandão, Jorge Lobo, Rui Rocha, Jorge Dias

In Proc. of Scientific Workshop of Robótica’2005 National Robotics Festival
Coimbra, Portugal, 8 pages, Apr. 29, 2005.

Abstract

The main goal of the RAC project is to develop a robotic soccer team for the RoboCup small-size league competitions. This paper is focused on two main issues: omnidirectional drive control design and modelling, and robot design and construction. The robot hardware implementation and design options are presented. Based on the robot kinematic model, a motion controller is designed using trajectory control techniques. A simple calibration procedure was devised to deal with construction deviations from the ideal model.

Keywords — Robocup, robot construction, omnidirectional drive, omniwheel, calibration.

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BibTeX

@INPROCEEDINGS(Rodrigues_et_al_05,

AUTHOR = "Rodrigues, J. and Brand{\~a}o, S. and Lobo, J. and Rocha, R. and Dias, J.",

TITLE = "\textsc{RAC} Robotic Soccer Small-Size Team: Omnidirectional Drive Modelling and Robot Construction",

BOOKTITLE = "Proc. of Scientific Meeting of Rob\'otica'2005 National Robotics Festival",

ADDRESS = "Coimbra, Portugal ",

YEAR = "2005",

MONTH = "Apr."

)

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Last update: 14/06/2006