An omnidirectional mobile robot: Concept and analysis

MY wheel-II is one of switch omnidirectional wheel mechanisms. The omnidirectional mobile robot based on MY wheels-II is a switched non-linear system (i.e. discontinuous system). The aim of this paper is to propose a continuous modeling approach which can be employed to derive a continuous model from any given discontinuous robot dynamic model. This approach results in a continuous non-linear parameter varying (NLPV) model, and offers one solution for model-based control design. Firstly, our previously proposed average dynamic modeling approach is analyzed. We find that this modeling approach is effective only for a specific class of robot configurations. To overcome this problem, we first derive the switching conditions of MY wheel-II. Based on derived switching conditions, we then propose a simple continuous NLPV modeling approach. The new approach replaces the real discontinuous contact radius in the discontinuous dynamic model with an adaptive continuous curve. An illustrative example of the adaptive continuous curve design is provided. Both simulation and experimental results verify the effectiveness of the proposed NLPV modeling approach against the average modeling approach.

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“…For a detailed description of the MY wheel-II mechanism and the prototype platform, the readers are referred to. [10] …”

Section: Prototype Platformmentioning

confidence: 99%

“…On the other hand, by far, the proposed switch wheels are shown in Figure 1. They are Longitudinal orthogonalwheel, [7] MY wheel, [8,9] MY wheel-II, [10] Swedish wheel [11] and Omni-wheel. [12] These five mechanisms have a common feature, i.e.…”

Section: Introductionmentioning

confidence: 99%

A continuous dynamic modeling approach for an omnidirectional mobile robot

Ren

Sun

et al. 2015

Advanced Robotics

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“…1. They are Longitudinal orthogonal-wheel [5], MY wheel [6], MY wheel-II [7], Swedish wheel [8] and Omni-wheel [9]. These five mechanisms have a common feature, i.e., the contact radius of the wheel to the center of gravity of the robot switches between the inner and outer contact radius.…”

Section: Introductionmentioning

confidence: 99%

“…For the switch wheeled OMRs, kinematic modeling and analysis were studied in [5], [7], [10], [11]. In [5], kinematic model was derived for a mobile platform with three Longitudinal orthogonal-wheel assemblies.…”

Section: Introductionmentioning

confidence: 99%

“…He is also with School of Electrical Engineering and Automation, Tianjin University, 300072, Tianjin, China shugen.ma@ieee.org radius was used instead of the real contact radius in the inverse kinematic model, resulting in an average model. In [7] and [11], the kinematic analysis was studied by adopting an optimal scale factor (OSF) instead of using the average contact radius. But this OSF cannot be used in practice since it is influenced by many parameters.…”

Section: Introductionmentioning

confidence: 99%

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Predictive kinematic control of an omnidirectional mobile robot

Ren

2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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This paper presents a predictive kinematic control method for a three-wheeled omnidirectional mobile robot on the basis of MY wheel-II assemblies. Firstly, the kinematic analysis is conducted, which shows that eight possible models can be employed in the controller to produce the desired motor velocity for servo motors. Then for each finite fixed prediction horizon, a predictive control strategy is proposed to select the optimal model from the eight possible models. The key idea is that, for each finite fixed prediction horizon, the future value of a cost function is estimated for all the eight possible models. The model which minimizes the cost function is selected. Several simulations have been conducted to verify the effectiveness of the proposed control method. It shows that the proposed control method achieves definitely better performance than a previous proposed control method using an average model to produce the desired motor velocity.

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