Omni-directional mobile robot for autonomic offroad running

Author

Isoda, Takashi ; Chen, Peng ; Toyota, Toshio ; Hirano, Tatsuya

Author_Institution

Fac. of Comput. Sci. & Syst. Eng., Kyushu Inst. of Technol., Fukuoka, Japan

fYear

1997

fDate

29 Sep-1 Oct 1997

Firstpage

64

Lastpage

69

Abstract

Presents an omni-directional mobile robot which can run on offroad and run over an obstacle. The robot is constructed with four crawler-roller-motor-units and a center-body. It is equipped with a crawler-roller running system. Each unit can be driven independently and the motion of the robot is controlled by the speed of motors. We also designed a position and velocity control system for the machine. The robot can be automatically controlled to run in optional directions and in any orbit. The efficiency of the mechanism and the autonomic running method have been verified by many practical running tests and computer simulations

Keywords

mobile robots; motion control; position control; velocity control; autonomic offroad running; crawler-roller-motor-units; omni-directional mobile robot; position control system; velocity control system; Automatic control; Crawlers; Mobile robots; Motion control; Ordinary magnetoresistance; Parallel robots; Production facilities; Robot kinematics; Robotics and automation; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot and Human Communication, 1997. RO-MAN '97. Proceedings., 6th IEEE International Workshop on

Conference_Location

Sendai

Print_ISBN

0-7803-4076-0

Type

conf

DOI

10.1109/ROMAN.1997.646954

Filename

646954