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
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;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363924
