Title :
Simulation and kinematics analysis of composite turning for the omni-direction AGV
Author :
Enxiu Shi ; Guo, Junjie ; Enxiu Shi ; Huang, Yumei ; Zhang, Lixin
Author_Institution :
Sch. of Mech. Eng., Xi´´an Jiaotong Univ., Xi´´an
Abstract :
Because AGV used now has the shortage of motion flexibility, the omni-direction AGV attracts much more attention because it can realize any shape path tracking with any pose besides of the common AGVpsilas the motion mode (forward and backward, turning around). This paper studies on the omni-direction AGV. Kinematics model is deduced, and the motion constraint is discussed. The correction and validity of the motion analysis of AGV is verified by Simulation. The result verifies that the omni-direction AGV has advantages in motion flexibility.
Keywords :
automatic guided vehicles; motion control; robot kinematics; kinematics analysis; motion analysis; motion constraint; motion flexibility; omni-direction AGV; shape path tracking; Analytical models; Geometry; Instruments; Kinematics; Mechanical engineering; Motion analysis; Shape; Tracking; Turning; Wheels; Composite Turning; Motion Trajectory; Omni-Direction AGV; Steering Angle; driving and steering wheel (DSW);
Conference_Titel :
Industrial Technology, 2008. ICIT 2008. IEEE International Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4244-1705-6
Electronic_ISBN :
978-1-4244-1706-3
DOI :
10.1109/ICIT.2008.4608356
