A Geometric Approach to Decouple Robotino Motions and its Functional Controllability

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This paper analyses a functional control of the Robotino. The proposed control strategy considers a functional decoupling control strategy realized using a geometric approach and the invertibility property of the DC-drives with which the Robotino is equipped. For a given control structure the functional controllability is proven for motion trajectories of class C 3, continuous functions with third derivative also being continuous. Horizontal, Vertical and Angular motions are considered and the decoupling between these motions is obtained. Control simulation results using real data of the Robotino are shown. The used control which enables to produce the presented results is a standard Linear Model Predictive Control (LMPC), even though for sake of brevity the standard algorithm is not shown.

Original languageEnglish
Article number012027
JournalJournal of Physics: Conference Series
Issue number1
Number of pages12
Publication statusPublished - 19.11.2015