アクティブ双輪キャスタ機構を有するホロノミック全方向移動ロボットの動的制御  [in Japanese] Dynamic Control for a Holonomic and Omnidirectional Mobile Robot with Active Dual-Wheel Caster Assemblies  [in Japanese]

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Author(s)

Abstract

Recently, omnidirectional mobile robots with holonomic property have been studied actively. We have already developed a holonomic and omnidirectional mobile robot which consists of two active dual-wheel caster assemblies and also derived the kinematic models for the assembly and the mobile robot. In this paper, we further derive a dynamic model for the mobile robot by using the forces acting on the steering axis and construct a resolved acceleration control system based on the model to realize a dynamic control for the mobile robot. An experiment using a prototype robot is performed to prove the validity of the model and the effectiveness of the control system.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 20(2), 65-73, 2002-03-15

    The Robotics Society of Japan

References:  16

Cited by:  1

Codes

  • NII Article ID (NAID)
    10008213104
  • NII NACSIS-CAT ID (NCID)
    AN00141189
  • Text Lang
    JPN
  • Article Type
    Journal Article
  • ISSN
    02891824
  • NDL Article ID
    6107759
  • NDL Source Classification
    ZN11(科学技術--機械工学・工業)
  • NDL Call No.
    Z16-1325
  • Data Source
    CJP  CJPref  NDL  J-STAGE 
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