DocumentCode
3265665
Title
Jacobian-matrix-based motion control of an Omni-Directional Mobile Robot with three active caster
Author
Afaghani, Ahmad Yasser ; Yuta, Shin Ichi ; Lee, Jae Hoon
Author_Institution
Intell. Robot Lab., Univ. of Tsukuba, Tsukuba, Japan
fYear
2011
fDate
20-22 Dec. 2011
Firstpage
627
Lastpage
633
Abstract
This research aims the development of an Omni-Directional Mobile Robot with three active caster type wheels. In this paper, the mechanism and kinematics of the Omni-Directional Mobile Robot which is designed by author´s group, and its vehicle control system are explained. This robot has six motors but the motion degree of freedom (DOF) is three. Therefore, special calculation method for control using Jacobian Matrix is proposed. The experimental results are also shown.
Keywords
Jacobian matrices; mobile robots; motion control; robot kinematics; vehicles; wheels; DOF; Jacobian matrix; Jacobian-matrix-based motion control; active caster type wheels; kinematics; motion degree of freedom; omni-directional mobile robot; special calculation method; vehicle control system; Jacobian matrices; Mobile robots; Robot kinematics; Robot motion; Vectors; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
System Integration (SII), 2011 IEEE/SICE International Symposium on
Conference_Location
Kyoto
Print_ISBN
978-1-4577-1523-5
Type
conf
DOI
10.1109/SII.2011.6147521
Filename
6147521
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