Title :
A control system for an omnidirectional mobile robot
Author :
Paromtchik, I.E. ; Asama, H. ; Fujii, T. ; Endo, I.
Author_Institution :
RIKEN, Inst. of Phys. & Chem. Res., Saitama, Japan
Abstract :
This paper deals with the development of a control system for an omnidirectional mobile robot. Our objective, overall control architecture and approach to motion generation are considered. The control system is implemented and tested on the omnidirectional mobile robot and the experimental results obtained are discussed. The operation of the control system is illustrated by a video on the remote control of the mobile robot and the visually-coupled motion of the two robots
Keywords :
Jacobian matrices; mobile robots; motion control; real-time systems; robot kinematics; robot vision; Jacobian matrix; kinematic model; motion control; omnidirectional mobile robot; real time systems; robot vision; Centralized control; Charge coupled devices; Color; Communication system control; Control systems; Mobile robots; Motion control; Object detection; Robot sensing systems; Sensor systems;
Conference_Titel :
Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on
Conference_Location :
Kohala Coast, HI
Print_ISBN :
0-7803-5446-X
DOI :
10.1109/CCA.1999.801130
