複数のアクティブ双輪キャスタアセンブリを用いた全方向移動ロボット車

概要

論文の詳細を見る
Recently, high mobilities of vehicles in industries are required for the automation of inspections and special works in narrow space. In this paper, we present a new type of holonomic and omnidirectional mobile robot platform using some driving assemblies, one of which consists of two independent driving wheel mechanisms just like active dual-wheel caster with an offset steered axis. The kinematic models of the wheel mechanism and mobile robot using two and three driving assemblies are derived and their models are used to construct a feedback control system based on a resolved velocity control for the robot. The effectiveness of the present method is illustrated by some computer simulations. Finally, the prototype of a mobile robot platform using two driving assemblies is given to prove the performance experimentally.
一般社団法人日本機械学会の論文
2001-01-25