Omnidirectional mobile robots with powered caster wheels: design guidelines from kinematic isotropy analysis

Author

Oetomo, Denny ; Li, Yuan Ping ; Ang, Marcelo H., Jr. ; Lim, Chee Wang

Author_Institution

Dept. of Mech. Eng., Monash Univ., Clayton, Vic., Australia

fYear

2005

fDate

2-6 Aug. 2005

Firstpage

3034

Lastpage

3039

Abstract

Kinematic isotropy of omnidirectional mobile robots with powered caster wheels is discussed and utilized in optimizing the design parameters of the robots. The analysis is done to cover the most general cases, by observing the mathematical expression of the equations of motion rather than by numerical evaluation of specific parameters or actuation schemes. Optimal design guidelines are provided. Singularity analysis is given to support the proposed design guidelines. Simulation results are presented to verify the conclusions drawn.

Keywords

mobile robots; robot kinematics; design optimization; equations of motion; kinematic isotropy analysis; omnidirectional mobile robots; optimal design guidelines; powered caster wheels; singularity analysis; Design optimization; Equations; Guidelines; Kinematics; Manufacturing; Mechanical factors; Mobile robots; Motion analysis; Performance analysis; Wheels; Powered Caster Wheels; design optimization; kinematic isotropy;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8912-3

Type

conf

DOI

10.1109/IROS.2005.1545385

Filename

1545385