dc.contributor.author
Martínez, David
dc.contributor.author
Rubies, Elena
dc.contributor.author
Bitriá Ribes, Ricard
dc.contributor.author
Palacín Roca, Jordi
dc.date.accessioned
2026-03-30T18:44:07Z
dc.date.available
2026-03-30T18:44:07Z
dc.identifier
https://doi.org/10.3390/app151910700
dc.identifier
https://hdl.handle.net/10459.1/469848
dc.identifier.uri
https://hdl.handle.net/10459.1/469848
dc.description.abstract
This paper evaluates and corrects systematic odometry errors in a compact omnidirectional mobile platform equipped with three omni-wheels driven by digital servomotors featuring velocity control capabilities. Compared to differential-drive platforms, omnidirectional platforms offer the significant advantage of being able to translate in any direction while rotating simultaneously. The motion capabilities of the platform have been experimentally evaluated, and its systematic motion errors analyzed and corrected. The final motion capabilities achieved confirm that a basic three-wheeled omnidirectional platform driven by servomotors is suitable for use as a testbench for control algorithms and trajectory-tracking experiments.
dc.description.abstract
This research was partially funded by Ministerio de Ciencia, Innovación y Universidades: FPU22/00526; and Departament de Recerca i Universitats: AGAUR FI SDUR 2022
dc.relation
Reproducció del document publicat a https://doi.org/10.3390/app151910700
dc.relation
Applied Sciences, 2025, vol. 15, núm. 19, 10700
dc.rights
cc-by (c) David Martínez et al., 2025
dc.rights
Attribution 4.0 International
dc.rights
info:eu-repo/semantics/openAccess
dc.rights
http://creativecommons.org/licenses/by/4.0/
dc.subject
Omnidirectional platform
dc.subject
Omnidirectional wheel
dc.subject
Digital servomotor
dc.title
Evaluation and Correction of Systematic Motion Errors in a Compact Three-Wheeled Omnidirectional Platform Based on Servomotors
dc.type
info:eu-repo/semantics/article
dc.type
info:eu-repo/semantics/publishedVersion
