DocumentCode
800935
Title
A Mobile Platform for Nursing Robots
Author
Borenstein, Johann ; Koren, Yoram
Author_Institution
The Faculty on Mechanical Engineering, Institute for Technology, Technion, Haifa, Israel.
Issue
2
fYear
1985
fDate
5/1/1985 12:00:00 AM
Firstpage
158
Lastpage
165
Abstract
This paper describes a computer-controlled vehicle which is part of a nursing robot system currently under development at the Technion-Israel Institute for Technology. The platform of this vehicle can also be used for household robots. Design considerations, control algorithms, and the necessary sensory devices are discussed. The vehicle applies a motion control strategy which avoids slippage and minimizes position errors. Experimental results, performed on a prototype vehicle, are described as well.
Keywords
DC motors; Medical robotics; Medical services; Mobile robots; Optical feedback; Robot sensing systems; Service robots; Stability; Vehicles; Wheels;
fLanguage
English
Journal_Title
Industrial Electronics, IEEE Transactions on
Publisher
ieee
ISSN
0278-0046
Type
jour
DOI
10.1109/TIE.1985.350187
Filename
4158608
Link To Document