Abstract
There exist three kinds of type, i.e., longitudinal, circumferential and lateral wheels for the class of the orthogonal-wheel assembly mechanisms in omnidirectional and holonomic mobile robots. We first analyze these types in the realization of mechanical structure and control system. We then develop an omnidirectional holonomic mobile robot using the lateral wheel assembly to obtain the much simpler control system. Several experimental results indicated that the mobile robot had a desirable full mobility and smooth motion. In order to realize a feedback control based on the model information, the dynamic model and a resolved acceleration control system are also described. The effectiveness of the control system is demonstrated by a computer simulation.
| Original language | English |
|---|---|
| Title of host publication | IEEE International Conference on Intelligent Robots and Systems |
| Editors | Anon |
| Publisher | IEEE |
| Pages | 66-73 |
| Number of pages | 8 |
| Volume | 1 |
| Publication status | Published - 1996 |
| Externally published | Yes |
| Event | Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn Duration: Nov 4 1996 → Nov 8 1996 |
Other
| Other | Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) |
|---|---|
| City | Osaka, Jpn |
| Period | 11/4/96 → 11/8/96 |
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ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Design and traveling experiment of an omnidirectional holonomic mobile robot. / Tang, Jun; Watanabe, Keigo; Shiraishi, Yamato.
IEEE International Conference on Intelligent Robots and Systems. ed. / Anon. Vol. 1 IEEE, 1996. p. 66-73.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Design and traveling experiment of an omnidirectional holonomic mobile robot
AU - Tang, Jun
AU - Watanabe, Keigo
AU - Shiraishi, Yamato
PY - 1996
Y1 - 1996
N2 - There exist three kinds of type, i.e., longitudinal, circumferential and lateral wheels for the class of the orthogonal-wheel assembly mechanisms in omnidirectional and holonomic mobile robots. We first analyze these types in the realization of mechanical structure and control system. We then develop an omnidirectional holonomic mobile robot using the lateral wheel assembly to obtain the much simpler control system. Several experimental results indicated that the mobile robot had a desirable full mobility and smooth motion. In order to realize a feedback control based on the model information, the dynamic model and a resolved acceleration control system are also described. The effectiveness of the control system is demonstrated by a computer simulation.
AB - There exist three kinds of type, i.e., longitudinal, circumferential and lateral wheels for the class of the orthogonal-wheel assembly mechanisms in omnidirectional and holonomic mobile robots. We first analyze these types in the realization of mechanical structure and control system. We then develop an omnidirectional holonomic mobile robot using the lateral wheel assembly to obtain the much simpler control system. Several experimental results indicated that the mobile robot had a desirable full mobility and smooth motion. In order to realize a feedback control based on the model information, the dynamic model and a resolved acceleration control system are also described. The effectiveness of the control system is demonstrated by a computer simulation.
UR - http://www.scopus.com/inward/record.url?scp=0030410161&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0030410161&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0030410161
VL - 1
SP - 66
EP - 73
BT - IEEE International Conference on Intelligent Robots and Systems
A2 - Anon, null
PB - IEEE
ER -