Optimal design and actuator sizing of redundantly actuated omni-directional mobile robots

Author

Park, Tae Bum ; LEE, Jae Hoon ; Yi, Byung-Ju ; Kim, Whee Kuk ; You, Bum Jae ; Oh, Sang-Rok

Author_Institution

School of Electrical Engineering and Computer Science, Hanyang

Volume

1

fYear

2002

fDate

11-15 May 2002

Firstpage

732

Lastpage

737

Abstract

Despite that omni-directional mobile robots have been employed popularly in several application areas, effort on optimal design of such mobile robots has been few in literature. Thus, this paper investigates the optimal design of omni-directional mobile robots. Particularly, optimal design parameters such as one or double offset distance of wheel mechanism and the wheel radius are identifed with respect to isotropic characteristic of mobile robots. In addition, the force transmission characteristics and actuator-sizing problem of mobile robots are investigated Analysis has been performed for three actuation sets. It is shown that the redundantly acruated mobile robot with three active caster wheels represents the best performance among them.

Keywords

Actuators; Angular velocity; Computer science; Control systems; Intelligent control; Intelligent systems; Mobile robots; Optimal control; Roads; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Conference_Location

Washington, DC, USA

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1013445

Filename

1013445