Mechatronics design and kinematic modelling of a singularityless omni-directional wheeled mobile robot

Author

Loh, W.K. ; Low, K.H. ; Leow, Y.P.

Author_Institution

Sch. of Mech. & Production Eng., Nanyang Technol. Univ., Singapore

Volume

3

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

3237

Abstract

This paper focuses on the kinematic modelling, mobility analysis and mechatronics design of a singularityless omni-directional wheeled mobile robot (OWMR). To achieve a singularityless motion, firstly, the kinematic model of a wheeled mobile robot (WMR), a platform equipped with three omni-directional wheels (ODW), is formulated. Based on this model, a smooth trajectory and control command for the 3-wheel OWMR can be obtained. The analysis on the mobility of a WMR is carried out using the functional matrix. It is shown that a WMR with three ODWs has a mobility of three. A WMR with three ODWs was designed and prototyped. Experimental results have been employed to verify the theoretical conclusions.

Keywords

mechatronics; mobile robots; modelling; position control; robot kinematics; functional matrix; kinematic modelling; mechatronics; mobility analysis; singularityless omni-directional wheeled mobile robot; trajectory control; Actuators; Kinematics; Mathematical model; Mechatronics; Mobile robots; Production engineering; Prototypes; Robot sensing systems; Space technology; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1242089

Filename

1242089