Kinematics modeling and analysis for threewheel omnidirectional mobile robot

Author

Ren, Xiaodong ; Feng, Zuren ; Chang, Hong ; Mu, Ruofeng

Author_Institution

Inst. of Syst. Eng., Xi´´an Jiaotong Univ., Xi´´an

fYear

2008

fDate

25-27 June 2008

Firstpage

2608

Lastpage

2613

Abstract

In order to get high rapidity and high maneuverability, three omnidirectional wheels with double-layer structure are used as walking mechanism of the mobile robot. To solve the problem of movement instability, the ideal and actual kinematics models of the omnidirectional mobile robot are presented. Subsequently, the influence of the double-layer structure on robot motion is analyzed theoretically. Then a conclusion that such omnidirectional wheels will induce a deviation from rotation of the robot is drawn. Further, a simple compensation model is proposed. Finally, the conclusion is validated through the simulation.

Keywords

mobile robots; robot kinematics; double-layer structure; kinematics modeling; movement instability problem; three wheel omnidirectional mobile robot walking mechanism; Intelligent control; Kinematics; Laboratories; Legged locomotion; Manufacturing automation; Manufacturing systems; Mobile robots; Robotics and automation; Systems engineering and theory; Wheels; kinematics modeling; mobile robot; omnidirectional wheel;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Conference_Location

Chongqing

Print_ISBN

978-1-4244-2113-8

Electronic_ISBN

978-1-4244-2114-5

Type

conf

DOI

10.1109/WCICA.2008.4593334

Filename

4593334