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Design and Control of an Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels InTech
Jae-Bok Song; Kyung-Seok Byun.
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...
Tipo: 12 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/design_and_control_of_an_omnidirectional_mobile_robot_with_steerable_omnidirectional_wheels
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