摘要：AbstractIn process automation of logistic systems autonomous mobile platforms play an important role with high demands on flexibility and maneuverability. Limited space can be a restriction for non-omnidirectional vehicles. In this paper a quasi-omnidirectional platform is considered which can switch between four different motion-modes: wheel alignment in a standstill, a car-like steered longitudinal motion, lateral motion and pure rotation. With the requirement of carrying heavy payloads, feed-forward control becomes an important part of the control concept. This paper presents an approach for parameter identification of this motion-mode-changing system. The equations of motion are formulated using a redundantly parameterized model, which is linear in inertia and friction parameters. For each motion-mode a kinematic model is used for elimination of the constraint forces. Not all parameters can be identified in every configuration.The main idea is to use a combination of simple vehicle movements in the parameter identification process. The identified dynamic parameters are then validated using a more complex movement where all parameters are needed and a configuration which has not been used for identification. Experimental results for a prototype are shown.
