Design, Modeling and Control of an Omni-Directional Mobile Robot

Ioan Doroftei; Bogdan Stirbu

doi:10.4028/www.scientific.net/SSP.166-167.173

Paper Titles

Modeling of Shape Memory Alloy Actuators Using Matlab and dSpace Platform
p.149

Workspace Analysis of the 6 Degrees of Freedom PARTNER Parallel Robot
p.155

Path Following System for Cooperative Mobile Robots
p.161

The Design Approach of Human Prostheses and Intelligent Robot End Effectors Based on Mechatronic Philosophy
p.167

Design, Modeling and Control of an Omni-Directional Mobile Robot
p.173

Intelligent Robot with Microcontroller for Obstacles Avoiding
p.179

Designing of Virtual Reality Environments for Mobile Robots Programming
p.185

Fuzzy Reasoning in Mobile Robots Control
p.191

Mobility and Direct Kinematics of Parallel Manipulators RSS Type - 3 Actuators
p.197

HomeSolid State PhenomenaSolid State Phenomena Vols. 166-167Design, Modeling and Control of an...

Design, Modeling and Control of an Omni-Directional Mobile Robot

Abstract:

One of the main issues of a mobile robot is to move in tight areas, to avoid obstacles, finding its way to the next location. These capabilities mainly depend on the wheels design. An omni-directional drive mechanism is very attractive because it guarantees a very good mobility in such cases. This paper provides some information about the mechanical design of an omni-directional robot, as well as about its control. This report is the result of the cooperation between researchers from Mechanical Engineering and Electrical Engineering Faculties, at “Gh. Asachi” Technical University of Iasi, Romania.

You might also be interested in these eBooks

View Preview

Info:

Periodical:

Solid State Phenomena (Volumes 166-167)

Pages:

173-178

DOI:

https://doi.org/10.4028/www.scientific.net/SSP.166-167.173

Citation:

Cite this paper

Online since:

September 2010

Authors:

Ioan Doroftei, Bogdan Stirbu

Keywords:

Control, Design, Kinematics, Mecanum Wheel, Omni-Directional Mobile Robot

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] T. Bräunl: Eye-Bot: a family of autonomous mobile robots. In: Proceedings of 6th International Conference on Neural Information Processing, pp.645-649, November, 1999, Perth, Australia.

Google Scholar

[2] S.L. Dickerson and B.D. Lapin: Control of an omni-directional robotic vehicle with Mecanum wheels. In: National Telesystems Conference Proceedings, pp.323-328, March 26-27, 1991, Atlanta, USA.

DOI: 10.1109/ntc.1991.148039

Google Scholar

[3] P.F. Muir and C.P. Neumann: Kinematic modeling for feedback control of an omnidirectional wheeled mobile robot. In: Autonomous Robot Vehicles, Editors I.J. Coxy and G.T. Wilfong, pp.25-31, 1990, Springer-Verlag, Berlin.

DOI: 10.1007/978-1-4613-8997-2_2

Google Scholar

[4] P.F. Muir and C.P. Neumann: Kinematic Modeling for Feedback Control of an Omnidirection Wheeled Mobile Robot. In: IEEE Intenational Conference on Robotics and Automation, (1987).

DOI: 10.1109/robot.1987.1087767

Google Scholar

[5] P.F. Muir and C.P. Neumann: Kinematic Modeling of Wheeled Mobile Robots. In: Journal of Robotic Systems, No. 4(2), 1987, pp.281-340.

DOI: 10.1002/rob.4620040209

Google Scholar

[6] O. Diegel, A. Badve, G. Bright, J. Potgieter and S. Tlatle: Improved Mecanum Wheel Design for Omni-directional Robots. In: Proc. 2002 Australian Conference on Robotics and Automation, Auckland, 27-29 Nov. 2002, pp.117-121.

Google Scholar

[7] R. Siegwart and I.R. Nourbakash: Introduction to Autonomous Mobile Systems, MIT Press (2004).

Google Scholar