Design and traveling experiment of an omnidirectional holonomic mobile robot

Jun Tang, Keigo Watanabe, Yamato Shiraishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

28 Citations (Scopus)

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 languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Editors Anon
PublisherIEEE
Pages66-73
Number of pages8
Volume1
Publication statusPublished - 1996
Externally publishedYes
EventProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn
Duration: Nov 4 1996Nov 8 1996

Other

OtherProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3)
CityOsaka, Jpn
Period11/4/9611/8/96

Fingerprint

Mobile robots
Control systems
Wheels
Experiments
Acceleration control
Feedback control
Dynamic models
Computer simulation

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Tang, J., Watanabe, K., & Shiraishi, Y. (1996). Design and traveling experiment of an omnidirectional holonomic mobile robot. In Anon (Ed.), IEEE International Conference on Intelligent Robots and Systems (Vol. 1, pp. 66-73). IEEE.

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 proceedingConference contribution

Tang, J, Watanabe, K & Shiraishi, Y 1996, Design and traveling experiment of an omnidirectional holonomic mobile robot. in Anon (ed.), IEEE International Conference on Intelligent Robots and Systems. vol. 1, IEEE, pp. 66-73, Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3), Osaka, Jpn, 11/4/96.
Tang J, Watanabe K, Shiraishi Y. Design and traveling experiment of an omnidirectional holonomic mobile robot. In Anon, editor, IEEE International Conference on Intelligent Robots and Systems. Vol. 1. IEEE. 1996. p. 66-73
Tang, Jun ; Watanabe, Keigo ; Shiraishi, Yamato. / Design and traveling experiment of an omnidirectional holonomic mobile robot. IEEE International Conference on Intelligent Robots and Systems. editor / Anon. Vol. 1 IEEE, 1996. pp. 66-73
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