DocumentCode
2628004
Title
Design and Implementation of a Quasiholonomic Mobile Robot
Author
Salerno, Alessio ; Angeles, Jorge
Author_Institution
Dept. of Mech. Eng., Columbia Univ., New York, NY
fYear
2007
fDate
10-14 April 2007
Firstpage
2977
Lastpage
2983
Abstract
Aspects of the mechatronic design and prototyping of a robot designed and realized with the quasiholonomy property are discussed here. After an overview of the motivation and applications of the project at hand, we show how we faced the challenges encountered in the mechatronic design and implementation of the prototype. The actuation system and power supply dimensioning are then described, along with the selection of the on-board control unit and programming of the real-time operating system. Advantages of quasiholonomic robotic systems are substantiated
Keywords
mechatronics; mobile robots; robot kinematics; actuation system; mechatronic design; power supply dimensioning; quasiholonomic mobile robot; robot prototyping; Computer integrated manufacturing; Control systems; Mechanical engineering; Mechatronics; Mobile robots; Payloads; Prototypes; Torque control; Wheelchairs; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location
Roma
ISSN
1050-4729
Print_ISBN
1-4244-0601-3
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2007.363924
Filename
4209542
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