Control of a novel omni-directional platform

Author

Bemis, Steven ; Riess, Brian ; Nokleby, Scott

Author_Institution

Mechatron. & Robotic Syst. Lab., Univ. of Ontario Inst. of Technol., Oshawa, ON

fYear

2008

fDate

4-7 May 2008

Abstract

A unique design for an omni-directional platform to be used in conjunction with a robotic arm is presented. The platform differs from other omni-wheel layouts in that its drive axes do not intersect its geometric centre. The platform can be controlled in a local method using a three degree-of-freedom (DOF) joystick interfaced directly with the platform through a microcontroller. A global control method is introduced using encoder feedback to determine velocity and a wireless pose detection system to determine the position and orientation of the platform relative to a defined coordinate system.

Keywords

control system synthesis; feedback; manipulators; mobile robots; pose estimation; position control; robot vision; 3-DOF joystick; encoder feedback; microcontroller; omni-wheel layout; omnidirectional platform control; platform orientation determination; platform position determination; robotic arm; wireless pose detection system; Acceleration; Algorithm design and analysis; Control systems; Jacobian matrices; Mechatronics; Mobile robots; Robot kinematics; Vehicles; Velocity control; Wheels; Omnibot; control; omni-directional; omni-wheel;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Computer Engineering, 2008. CCECE 2008. Canadian Conference on

Conference_Location

Niagara Falls, ON

ISSN

0840-7789

Print_ISBN

978-1-4244-1642-4

Electronic_ISBN

0840-7789

Type

conf

DOI

10.1109/CCECE.2008.4564638

Filename

4564638