直交車輪機構を用いた全方向移動ロボット車の自律制御 Autonomous Control for an Omnidirectional Mobile Robot with the Orthogonal-Wheel Assembly
In this paper, we describe a holonomic omnidirectional mobile robot with three orthogonal-wheel assemblies and its high accurate tracking control system. We first analyze three types in the realization of mechanical structure. We then develop an omnidirectional mobile robot using the lateral wheel assembly to obtain the much simpler control system. Several test results in the feedforward control system indicated that the mobile robot had a desirable full mobility and smooth motion. In order to realize a dynamic control system based on the model information, the dynamic model and its resolved acceleration control system are described. The effectiveness of the control system is demonstrated by a set of practical experiments.
日本ロボット学会誌 17(1), pp.51-60, 1999-01-15
The Robotics Society of Japan