The miniature omni-directional mobile robot OmniKity-I (OK-I)

Author

Jung, Myung-Jin ; Shim, Hyun-Sik ; Kim, Heung-Soo ; Kim, Jong-Hwan

Author_Institution

Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea

Volume

4

fYear

1999

fDate

1999

Firstpage

2686

Abstract

The structure of OmniKity-I (OK-I), the miniature omni-directional mobile robot, and its kinematics and dynamics models are presented. OK-I has three DOFs in the plane. A conventional two wheeled mobile robot (2-WMR) serves as the base of OK-I for translational motion. The robot body is on top of the base. The third motor controls angular motion of the body as the base turns according to the translational motion. The circular surface connector (CSC) is devised to transfer signals from the base to the body without constraining angular motion of the body. Experimental results show proper omni-directional features of OK-I

Keywords

mobile robots; robot dynamics; robot kinematics; 2-WMR; 3-DOF robot; 8.5 cm; CSC; OK-I; OmniKity-I; angular motion; circular surface connector; dynamics; kinematics; miniature omni-directional mobile robot; robot body; translational motion; two wheeled mobile robot; Actuators; Angular velocity; Connectors; Costs; Kinematics; Mobile robots; Motor drives; Orbital robotics; Robustness; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.774003

Filename

774003