Fault tolerant control strategy for OmniKity-III

Author

Jung, Myung-Jin ; Kim, Jong-Hwan

Author_Institution

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

Volume

4

fYear

2001

fDate

2001

Firstpage

3370

Abstract

In this paper a novel wheeled omnidirectional mobile robot, the OmniKity-III (OK-III), is developed and its kinematic model and control laws are derived. A special gear train with omnidirectional mechanism was developed using conventional tire wheels. Several control laws are provided by considering the robot as a redundantly actuated wheeled mobile robot on the plane. Since the robot has three degrees of freedom in motion, failure in any one of the motor can be compensated by the other two motors in posture control although the omnidirectional mobility is lost. Simulations and experiments demonstrate the effectiveness of the proposed omnidirectional mechanism.

Keywords

asymptotic stability; fault tolerance; mobile robots; motion control; position control; robot kinematics; robust control; 3-DOF motion; OmniKity-III; asymptotic stability; fault tolerant control; kinematic model; omnidirectional mobile robot; posture control; wheeled mobile robot; Computer science; DC motors; Fault tolerance; Gears; Kinematics; Mobile robots; Motion control; Teeth; Tires; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.933138

Filename

933138