Title :
A study on the mechanism and control of omni-directional vehicle
Author :
Mori, Y. ; Nakano, E. ; Takahashi, T. ; Takayama, K.
Author_Institution :
Lab. of Adv. Robotics, Tohoku Univ., Sendai, Japan
Abstract :
In this paper, the mechanism, the kinematics, the control, and the experimental results of a newly designed nonholonomic omni-directional vehicle “ODV9” are discussed. ODV9 has four wheel modules, with each wheel module incorporating a motor, brake, and a wheel. Compared with other ODVs, the advantages of ODV9 are not limited to the simplicity of its mechanism. Benefiting from using a normal type wheel equipped with a tire, ODV9 is capable of moving in various environments. The proposed controller for ODV9 is designed using digital optimal control theory. The experimental results show that ODV9 can be practically utilized for various mobile platforms
Keywords :
digital control; mobile robots; optimal control; robot kinematics; ODV9; brake; digital optimal control theory; kinematics; motor; nonholonomic omni-directional vehicle; wheel modules; Automobiles; Information science; Laboratories; Mobile robots; Optimal control; Orbital robotics; Service robots; Tires; Vehicles; Wheels;
Conference_Titel :
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location :
Osaka
Print_ISBN :
0-7803-3213-X
DOI :
10.1109/IROS.1996.570629
