Title :
Jacobian-matrix-based motion control of an Omni-Directional Mobile Robot with three active caster
Author :
Afaghani, Ahmad Yasser ; Yuta, Shin Ichi ; Lee, Jae Hoon
Author_Institution :
Intell. Robot Lab., Univ. of Tsukuba, Tsukuba, Japan
Abstract :
This research aims the development of an Omni-Directional Mobile Robot with three active caster type wheels. In this paper, the mechanism and kinematics of the Omni-Directional Mobile Robot which is designed by author´s group, and its vehicle control system are explained. This robot has six motors but the motion degree of freedom (DOF) is three. Therefore, special calculation method for control using Jacobian Matrix is proposed. The experimental results are also shown.
Keywords :
Jacobian matrices; mobile robots; motion control; robot kinematics; vehicles; wheels; DOF; Jacobian matrix; Jacobian-matrix-based motion control; active caster type wheels; kinematics; motion degree of freedom; omni-directional mobile robot; special calculation method; vehicle control system; Jacobian matrices; Mobile robots; Robot kinematics; Robot motion; Vectors; Wheels;
Conference_Titel :
System Integration (SII), 2011 IEEE/SICE International Symposium on
Conference_Location :
Kyoto
Print_ISBN :
978-1-4577-1523-5
DOI :
10.1109/SII.2011.6147521
