Simulation and kinematics analysis of composite turning for the omni-direction AGV

Author

Enxiu Shi ; Guo, Junjie ; Enxiu Shi ; Huang, Yumei ; Zhang, Lixin

Author_Institution

Sch. of Mech. Eng., Xi´´an Jiaotong Univ., Xi´´an

fYear

2008

fDate

21-24 April 2008

Firstpage

1

Lastpage

5

Abstract

Because AGV used now has the shortage of motion flexibility, the omni-direction AGV attracts much more attention because it can realize any shape path tracking with any pose besides of the common AGVpsilas the motion mode (forward and backward, turning around). This paper studies on the omni-direction AGV. Kinematics model is deduced, and the motion constraint is discussed. The correction and validity of the motion analysis of AGV is verified by Simulation. The result verifies that the omni-direction AGV has advantages in motion flexibility.

Keywords

automatic guided vehicles; motion control; robot kinematics; kinematics analysis; motion analysis; motion constraint; motion flexibility; omni-direction AGV; shape path tracking; Analytical models; Geometry; Instruments; Kinematics; Mechanical engineering; Motion analysis; Shape; Tracking; Turning; Wheels; Composite Turning; Motion Trajectory; Omni-Direction AGV; Steering Angle; driving and steering wheel (DSW);

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 2008. ICIT 2008. IEEE International Conference on

Conference_Location

Chengdu

Print_ISBN

978-1-4244-1705-6

Electronic_ISBN

978-1-4244-1706-3

Type

conf

DOI

10.1109/ICIT.2008.4608356

Filename

4608356