複数のアクティブ双輪キャスタアセンブリを用いた全方向移動ロボット車

• 韓 福華

• 山田 隆明

• 渡辺 桂吾

• 泉 清高

書誌事項

タイトル別名

• An Omnidirectional Mobile Robot Using Multiple Active Dual-Wheel Caster Assemblies.
• フクスウ ノ アクティブソウリン キャスタアセンブリ オ モチイタ ゼン ホウコウ イドウ ロボットシャ

抄録

Recently, high mobilities of vehicles in industries are required for the automation of inspections and special works in narrow space. In this paper, we present a new type of holonomic and omnidirectional mobile robot platform using some driving assemblies, one of which consists of two independent driving wheel mechanisms just like active dual-wheel caster with an offset steered axis. The kinematic models of the wheel mechanism and mobile robot using two and three driving assemblies are derived and their models are used to construct a feedback control system based on a resolved velocity control for the robot. The effectiveness of the present method is illustrated by some computer simulations. Finally, the prototype of a mobile robot platform using two driving assemblies is given to prove the performance experimentally.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 67 (653), 154-161, 2001

  一般社団法人 日本機械学会

キーワード

• Holonomic Platform
• Omnidirectional Mobile Robot
• Active Dual-Wheel Caster
• Kinematic Model
• Resolved Velocity Control

詳細情報

• CRID: 1390282681305425792
• NII論文ID: 110002385986
• NII論文ID: 130004233935
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.67.154
• ISSN: 18848354
• ISSN: 03875024
• NDL書誌ID: 5652449
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I5652449
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/67/653/67_653_154/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可