... in computing the derivative signals (e.g., velocity and acceleration) based on the position snapshots. In this paper frequency-dependent amplitude and phase compensation algorithms are developed for both the forward difference and the central difference methods to retrieve without distortion the friction...

...Jianhua Wu; Robert L. Williams, II; Jae Lew We consider the problems of kinematic and dynamic constraints, with actuator saturation and wheel slippage avoidance, for motion planning of a holonomic three-wheeled omni-directional robot. That is, the motion planner must not demand more velocity...