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

Volume

2

fYear

1995

fDate

21-27 May 1995

Firstpage

1925

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525546

Filename

525546