Title :
Control of a novel omni-directional platform
Author :
Bemis, Steven ; Riess, Brian ; Nokleby, Scott
Author_Institution :
Mechatron. & Robotic Syst. Lab., Univ. of Ontario Inst. of Technol., Oshawa, ON
Abstract :
A unique design for an omni-directional platform to be used in conjunction with a robotic arm is presented. The platform differs from other omni-wheel layouts in that its drive axes do not intersect its geometric centre. The platform can be controlled in a local method using a three degree-of-freedom (DOF) joystick interfaced directly with the platform through a microcontroller. A global control method is introduced using encoder feedback to determine velocity and a wireless pose detection system to determine the position and orientation of the platform relative to a defined coordinate system.
Keywords :
control system synthesis; feedback; manipulators; mobile robots; pose estimation; position control; robot vision; 3-DOF joystick; encoder feedback; microcontroller; omni-wheel layout; omnidirectional platform control; platform orientation determination; platform position determination; robotic arm; wireless pose detection system; Acceleration; Algorithm design and analysis; Control systems; Jacobian matrices; Mechatronics; Mobile robots; Robot kinematics; Vehicles; Velocity control; Wheels; Omnibot; control; omni-directional; omni-wheel;
Conference_Titel :
Electrical and Computer Engineering, 2008. CCECE 2008. Canadian Conference on
Conference_Location :
Niagara Falls, ON
Print_ISBN :
978-1-4244-1642-4
Electronic_ISBN :
0840-7789
DOI :
10.1109/CCECE.2008.4564638
