An Omnidirectional Mobile Robot Using Multiple Active Dual-Wheel Caster Assemblies

Autor:	Takaaki Yamada, Kiyotaka Izumi, Keigo Watanabe, Fuhua Han
Rok vydání:	2001
Předmět:	Engineering Caster Offset (computer science) business.industry Holonomic Mechanical Engineering Mobile robot Control engineering Kinematics Automation Omnidirectional mobile robot Industrial and Manufacturing Engineering Mechanics of Materials Robot business Simulation
Zdroj:	TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C. 67:154-161
ISSN:	1884-8354 0387-5024
Popis:	Recently, high mobilities of vehicles in industries are required for the automation of inspections and special works in narrow space. In this paper, we present a new type of holonomic and omnidirectional mobile robot platform using some driving assemblies, one of which consists of two independent driving wheel mechanisms just like active dual-wheel caster with an offset steered axis. The kinematic models of the wheel mechanism and mobile robot using two and three driving assemblies are derived and their models are used to construct a feedback control system based on a resolved velocity control for the robot. The effectiveness of the present method is illustrated by some computer simulations. Finally, the prototype of a mobile robot platform using two driving assemblies is given to prove the performance experimentally.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::13d0f3f917964a40b40f6ac0a67b5026 https://doi.org/10.1299/kikaic.67.154 Zobrazit plný text záznamu