DocumentCode :
1851617
Title :
Velocity Analysis of Omnidirectional Mobile Robot and System Implementation
Author :
Leng, Chuntao ; Cao, Qixin
Author_Institution :
Res. Inst. of Robotics, Shanghai Jiao Tong Univ.
fYear :
2006
fDate :
8-10 Oct. 2006
Firstpage :
81
Lastpage :
86
Abstract :
The kinematic modeling of an omnidirectional mobile robot is introduced, of which the arrangement of the omnidirectional wheels is arbitrary. With the particular structure of omnidirectional wheel, the kinematic performance is distinct while the robot moves in different direction, which is called anisotropy. The rule about the relationship between the maximal velocity and the amount, azimuth of the omnidirectional wheels is deduced. Especially, the kinematic performance of 4-wheeled omnidirectional mobile robot with different arrangement of the 4 wheels is analyzed. A 4-wheeled robot is designed optimally based on the result of velocity analysis. The conclusion of this paper is given and approved through experiments
Keywords :
mobile robots; robot kinematics; velocity; anisotropy; kinematic modeling; maximal velocity; omnidirectional mobile robot; velocity analysis; wheel azimuth; Anisotropic magnetoresistance; Azimuth; Kinematics; Kinetic theory; Mechanical power transmission; Mobile robots; Performance analysis; Production; Robotics and automation; Wheels;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Automation Science and Engineering, 2006. CASE '06. IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
1-4244-0310-3
Electronic_ISBN :
1-4244-0311-1
Type :
conf
DOI :
10.1109/COASE.2006.326859
Filename :
4120325
Link To Document :
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