Development of an omni-directional mobile robot with 3 DOF decoupling drive mechanism

Development of an omni-directional mobile robot with 3 DOF decoupling drive mechanism

A new driving mechanism for holonomic omnidirectional mobile robots is designed, which enables 3 DOF motion control by three correspondent actuators in a decoupled manner with no redundancy. A prototype of the omnidirectional mobile robot with the driving mechanism is developed including a parallel...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: Asama, H., Sato, M., Bogoni, L., Kaetsu, H., Mitsumoto, A., Endo, I.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Actuators
Chemicals
Intelligent robots
Mobile robots
Motion control
Orbital robotics
Performance analysis
Robot kinematics
Robotics and automation
Wheels
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:A new driving mechanism for holonomic omnidirectional mobile robots is designed, which enables 3 DOF motion control by three correspondent actuators in a decoupled manner with no redundancy. A prototype of the omnidirectional mobile robot with the driving mechanism is developed including a parallel link suspension mechanism. The kinematics of the omnidirectional mobile robot is also analyzed, and simulation for velocity control of the robot is performed by a method for velocity modulation with interpolation to achieve the given target position and velocity.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.1995.525546