Title :
Development of an omni-directional mobile robot with 3 DOF decoupling drive mechanism
Author :
Asama, Hajime ; Sato, Masatoshi ; Bogoni, L. ; Kaetsu, Hayato ; Mitsumoto, A. ; Endo, Isao
Author_Institution :
RIKEN, Inst. of Phys. & Chem. Res., Saitama, Japan
Abstract :
A new driving mechanism for holonomic omnidirectional mobile robots is designed, which enables 3 DOF motion control by three correspondent actuators in a decoupled manner with no redundancy. A prototype of the omnidirectional mobile robot with the driving mechanism is developed including a parallel link suspension mechanism. The kinematics of the omnidirectional mobile robot is also analyzed, and simulation for velocity control of the robot is performed by a method for velocity modulation with interpolation to achieve the given target position and velocity
Keywords :
intelligent control; mobile robots; motion control; robot kinematics; velocity control; 3 DOF decoupling drive mechanism; 3 DOF motion control; correspondent actuators; holonomic omnidirectional mobile robots; interpolation; omni-directional mobile robot; parallel link suspension mechanism; simulation; target position; velocity control; velocity modulation; Actuators; Chemicals; Intelligent robots; Mobile robots; Motion control; Orbital robotics; Performance analysis; Robot kinematics; Robotics and automation; Wheels;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525546
