Design and Control of an Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels

Song, Jae-Bok; Byun, Kyung-Seok

doi:10.5772/4723

Cited by 17 publications

(16 citation statements)

References 13 publications

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“…In this paper the OMR-SOW developed in [10] was modified so that it could be operated in the differential drive mode by maintaining the steering angle at ±45 o and preventing the passive rollers from rolling.…”

Section: Structure Of Omr-sowmentioning

confidence: 99%

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Steering control algorithm for efficient drive of a mobile robot with steerable omni-directional wheels

Song

Byun

2009

J Mech Sci Technol

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Omnidirectional mobile robots are capable of arbitrary motion in an arbitrary direction without changing the direction of wheels because they can perform 3-DOF motions on a plane. This paper presents a novel mobile robot design with steerable omnidirectional wheels. This robot can operate in either omnidirectional or differential drive modes, depending on the drive conditions. In the omnidirectional mode, the robot has 3 DOF in motion and 1 DOF in steering, which can function as a continuously variable transmission (CVT). The CVT function can be used to enhance the efficiency of the robot operation by increasing the range of the velocity ratio of the robot velocity to wheel velocity. The structure and kinematics of this robot are presented in detail. In the proposed steering control algorithm, the steering angle is controlled such that the motors may operate in the region of high velocity and low torque, thus operating with maximum efficiency. Various tests demonstrate that the motion control of the proposed robot works satisfactorily and the proposed steering control algorithm for CVT can provide a higher efficiency than the algorithm using a fixed steering angle. In addition, it is shown that the differential drive mode can give better efficiency than the omnidirectionaldrive mode.

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Section: Structure Of Omr-sowmentioning

confidence: 99%

“…To overcome this limitation, the omnidirectional mobile robot with steerable omnidirectional wheels (OMR-SOW) was proposed, as shown in Fig. 1 [10]. Since the OMR-SOW significantly extended the range of the velocity ratio, stability was guaranteed irrespective of the wide range of wheel arrangements.…”

Section: Introductionmentioning

confidence: 99%

Steering control algorithm for efficient drive of a mobile robot with steerable omni-directional wheels

Song

Byun

2009

J Mech Sci Technol

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“…In the case of a conventional wheel the component v x is null, but there are other wheels providing a different behavior as shown in Figure 2. The omni-directional wheel is defined as a standard wheel provided by a rollers array, whose axis turn perpendicularly to the normal wheel direction (Jae-Bok Song, et al, 2008). In this way, when force is applied to its side, component v x is no longer null.…”

Section: Kinematicsmentioning

confidence: 99%

Kinematics modeling and simulation of an autonomous omni-directional mobile robot

Garcia-Sillas

Gorrostieta-Hurtado²,

Vargas³

et al. 2015

ing.inv.

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Although robotics has progressed to the extent that it has become relatively accessible with low-cost projects, there is still a need to create models that accurately represent the physical behavior of a robot. Creating a completely virtual platform allows us to test behavior algorithms such as those implemented using artificial intelligence, and additionally, it enables us to find potential problems in the physical design of the robot. The present work describes a methodology for the construction of a kinematic model and a simulation of the autonomous robot, specifically of an omni-directional wheeled robot. This paper presents the kinematic model development and its implementation using several tools. The result is a model that follows the kinematics of a triangular omni-directional mobile wheeled robot, which is then tested by using a 3D model imported from 3D Studio ® and Matlab ® for the simulation. The environment used for the experiment is very close to the real environment and reflects the kinematic characteristics of the robot. Keywords:Mobile robots, robotics, kinematics, modeling and simulation. RESUMENAunque la robótica ha avanzado hasta el punto de ser relativamente accesible con proyectos de bajo costo, aún cabe la necesidad de crear modelos que representen fielmente el comportamiento físico de un robot creando una plataforma completamente virtual. Esto nos permite, por un lado, probar algoritmos de comportamiento o de inteligencia artificial y, por otro lado, encontrar probables problemas en el diseño físico. El presente trabajo propone el modelado cinemático y la simulación de un robot móvil autónomo, particularmente de un robot omni-direccional con ruedas. Se plantea la metodología para la construcción del modelo cinemático así como su implementación utilizando diversas herramientas. El resultado es un modelo que representa a un robot móvil omni-direccional triangular con ruedas, que fue probado utilizando un modelo tridimensional importado de 3D Studio ® , y utilizando Matlab ® para la simulación del modelo. También se implementa el mismo modelo utilizando una herramienta dedicada a la simulación de robots, que ofrece un ambiente muy completo de simulación. El ambiente de simulación ofrece un comportamiento muy cercano al real y refleja las características cinemáticas del robot.Palabras clave: Robots móviles, robótica, cinemática, modelación y simulación. Received

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“…Many wheeled mobile robots are equipped with two differential driving wheels. Since these robots possess 2 degrees-of-freedom (DOFs), they can rotate about any point, but cannot perform holonomic motion including sideways motion (Jae-Bok Song and Kyung-Seok Byun , 2006). To increase the mobility of this service robot, three omni-directional wheels driven by three DC servo motors are assembled on the robot platform (see Fig.…”

Section: The Robot Mechanismmentioning

confidence: 99%

The Development of the Omnidirectional Mobile Home Care Robot

Zou¹

2011

Mobile Robots - Current Trends

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Design and Control of an Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels

Cited by 17 publications

References 13 publications

Steering control algorithm for efficient drive of a mobile robot with steerable omni-directional wheels

Steering control algorithm for efficient drive of a mobile robot with steerable omni-directional wheels

Kinematics modeling and simulation of an autonomous omni-directional mobile robot

The Development of the Omnidirectional Mobile Home Care Robot

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