Design and implementation of a ball-driven omnidirectional spherical robot

Chen, Wei-Hsi; Chen, Ching-Pei; Tsai, Jia-Shiuan; Yang, Yang; Lin, Pei-Chun

doi:10.1016/j.mechmachtheory.2013.04.012

Cited by 61 publications

(25 citation statements)

References 7 publications

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“…If we consider (8) as a differential equation with respect to , the integration form is as follows. (19) where denotes the integral constant. It is impossible to calculate the integration of (19) analytically, because the slidable wheels of SWOM are nonholonomic.…”

Section: B Trajectories Satisfying Constraintsmentioning

confidence: 99%

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A Novel Omnidirectional Mobile Robot With Wheels Connected by Passive Sliding Joints

Terakawa

Komori

Matsuda

et al. 2018

IEEE/ASME Trans. Mechatron.

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Mobile robots for automatically transporting products in factories and warehouses contribute to an increase in efficiency. Omnidirectional mobile robots can move immediately in an arbitrary direction and overcome the disadvantages of lack of mobility in conventional mobile robots. However, the omnidirectional mobile robots proposed in the past have not been as reliable as the conventional mobile robots such as AGVs due to their complicated wheel mechanisms. This research proposes a novel omnidirectional mobile robot named SWOM (slidable-wheeled omnidirectional mobile robot), which has three wheels that connect to the robot body by three passive sliding joints. The relative movements of the sliding joints allow SWOM to use conventional wheels. Thus, SWOM realizes both omnidirectional mobility and structural reliability. In this paper, we discuss the kinematic conditions for omnidirectional mobile robots and prove theoretically that SWOM can achieve omnidirectional movement. We present a kinematic analysis, a reachable region evaluation considering the limited movable range of the sliding joints, and trajectory generation that enables SWOM to move unlimitedly. We develop a prototype of SWOM and conduct experiments that show SWOM actually moves according to the theory. From the above, we verify the effectiveness of SWOM as an omnidirectional mobile robot.

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Section: B Trajectories Satisfying Constraintsmentioning

confidence: 99%

“…First, we calculate the target value of in the target condition by using (17). Next, we find the trajectory of that satisfies the boundary conditions such that , , and are continuous by using (19). Finally, is given by substituting the calculated and in (11).…”

Section: B Trajectories Satisfying Constraintsmentioning

confidence: 99%

A Novel Omnidirectional Mobile Robot With Wheels Connected by Passive Sliding Joints

Terakawa

Komori

Matsuda

et al. 2018

IEEE/ASME Trans. Mechatron.

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“…The Mecanum wheel can move in a similar way to the omni wheel. The spherical wheel is a ball-shaped wheel that is driven by multiple rollers or wheels [14]- [16]. By the combination of the rollers or wheels driven by motors, the spherical wheel can move actively in any direction.…”

Section: Introductionmentioning

confidence: 99%

Analysis of Traveling Strategies for Driving Omni-Wheeled Vehicle Around a Corner

et al. 2020

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Vehicles equipped with omnidirectional wheels can move in any direction, which means that many driving strategies are available, even for a simple task like turning a corner. However, the characteristics of each driving strategy have not yet been explored to detect what kind of strategy is suitable for what path conditions for what reasons. This study aims to clarify and compare the phenomena that occur in the possible least-time driving strategies for an omni-wheeled vehicle while it turns a corner. Three traveling strategies are proposed according to the order of rotation and turning motion, for which the possible least-time patterns are presented. Simulations are conducted to analyze the advantages of each pattern and compare the three traveling strategies for various path and corner configurations. The results show that the strategy in which the vehicle rotates during or after turning motion costs the least time. When both the path width and corner angle are small, the vehicle should turn with a large radius to maintain a high velocity. In contrast, the vehicle should turn with a small radius when the corner angle is large, even if this requires deceleration.

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“…As well, based on reinforcement learning algorithm and the notion of learning agents, a direct approach to motion planning of a spherical robot was proposed [35, 36]. A novel omnidirectional spherical robot, with a driven ball installed inside the spherical shell, was designed and implemented, too [37]. After modifying propulsion mechanism, Tomik et al [38] proposed an adaptive estimation and control algorithm for position control of the unbalance masses in the spherical robot.…”

Section: Introductionmentioning

confidence: 99%

Modelling and control of a non‐holonomic pendulum‐driven spherical robot moving on an inclined plane: simulation and experimental results

Roozegar

Mahjoob

2017

IET Control Theory & Applications

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Design and implementation of a ball-driven omnidirectional spherical robot

Cited by 61 publications

References 7 publications

A Novel Omnidirectional Mobile Robot With Wheels Connected by Passive Sliding Joints

A Novel Omnidirectional Mobile Robot With Wheels Connected by Passive Sliding Joints

Analysis of Traveling Strategies for Driving Omni-Wheeled Vehicle Around a Corner

Modelling and control of a non‐holonomic pendulum‐driven spherical robot moving on an inclined plane: simulation and experimental results

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