2000年11月
Construction of an omnidirectional mobile robot platform based on active dual-wheel caster mechanisms and development of a control simulator
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
- ,
- ,
- ,
- ,
- 巻
- 29
- 号
- 3
- 開始ページ
- 257
- 終了ページ
- 275
- 記述言語
- 英語
- 掲載種別
- DOI
- 10.1023/A:1008185917537
- 出版者・発行元
- KLUWER ACADEMIC PUBL
In this paper, we describe a new type of holonomic and omnidirectional mobile robot using two driving assemblies, one of which consists of two independent driving wheel mechanisms, just like an active dual-wheel caster with an offset steered axis. Kinematic models of the wheel mechanism and a mobile robot with two driving assemblies are derived, and these models are applied to construct a feedback control system based on a resolved velocity control system for the robot. The effectiveness of the presented method is illustrated by some computer simulations. The prototype of a mobile robot platform using two driving assemblies, which can be controlled by a personal computer or a 3D joystick manipulated by human, is constructed.
- リンク情報
- ID情報
-
- DOI : 10.1023/A:1008185917537
- ISSN : 0921-0296
- CiNii Articles ID : 80011986706
- Web of Science ID : WOS:000089502000003