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Provedor de dados:  InTech
País:  N/A
Título:  Design and Control of an Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels
Autores:  Jae-Bok Song
Kyung-Seok Byun
Data:  2006-12-01
Ano:  2006
Palavras-chave:  Mobile Robotics
Moving Intelligence
Resumo:  In this chapter, an omnidirectional mobile robot with steerable omnidirectional wheels (OMRSOW) has been proposed and the kinematic and dynamic analysis of a proposed robot has been conducted. The motion control system of a robot was developed and various experiments were conducted. As a result of this research, the following conclusions are drawn. 1. The OMR-SOW has 4 DOFs which consist of 3 DOFs for omnidirectional motion and 1 DOF for steering. This steering DOF functions as a continuously variable transmission (CVT). Therefore, the OMR-SOW can be also considered as an omnidirectional mobile robot with CVT. 2. The proposed steering control algorithm for CVT can provide a significant reduction in driving energy than the algorithm using a fixed steering angle. Therefore, the size of an actuator to meet the specified performance can be reduced or the performance such as gradability of the mobile robot can be enhanced for given actuators. 3. Energy efficiency can be further improved by selecting the differential drive mode through the adjustment of OMR-SOW wheel arrangement. The surmountable bump in the differential drive mode is much higher than that in the omnidirectional drive mode. One of the most important features of the OMR-SOW is the CVT function which can provide energy efficient drive of a robot. If the CVT is not properly controlled, however, energy efficiency capability can be deteriorated. Hence, research on the proper control algorithm is under way for energy efficient drive.
Tipo:  12
Idioma:  Inglês
Editor:  INTECH Open Access Publisher
Relação:  ISBN:3-86611-284-X

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