The kinematics for redundantly actuated omnidirectional mobile robots

Abstract

Omnidirectional mobile robots have been popularly employed in several application areas. However, the kinematics and singularity analysis for these systems have not been clearly identified, especially for the redundantly actuated case, which is common in current omnidirectional mobile robots. In light of this fact, this article introduces two different kinematic approaches for a typical omnidirectional mobile robot having three caster wheels, and examines singularity configurations of such systems. Then, a singularity‐free load‐distribution scheme for a redundantly actuated three‐wheeled omnidirectional mobile robot is proposed. Through simulation, several advantages of the redundantly actuated mobile robot (singularity avoidance, input‐load saving, and exploiting several subtasks) are presented. © 2002 Wiley Periodicals, Inc.

Mobility of Spatial Parallel Manipulators

“…However, the over actuated mechanical systems often occur in biomechanical systems during the contact with ground and is recently introduced in redundantly actuated parallel robots. Yi and Kim (Yi & Kim, 2002) designed a singularity free load-distribution scheme for a redundantly actuated three-wheeled Omnidirectional mobile robot. The most outstanding advantage of the redundantly actuated mobile robot is that the singularities of the mechanism can be well avoided.…”

Butler: A Visitor Guide Robot

“…For the omni-directional mechanism, the robot employed three castor wheel type since omnidirectional mobile robot with three castor wheels is more efficient than omni-directional mobile robot with Swedish wheels. Two motors for each castor were assigned and total six motors were used to avoid any singularity which happens in this type robot when less than four motors are used and to give redundant actuation which provides mobile system with many beneficial characteristics such as good load distribution and fault-tolerant capability [5].…”

Adaptive hybrid control for omnidirectional mobile manipulators using neural-network

“…In literatures [1,2,3], modeling and control of omnidirectional mobile robots were analyzed in details. The dynamic model and kinematic model of an omnidirectional mobile robot with three castor wheels were presented in [4,5]. Tan and Xi [6] proposed a unified dynamic model for a mobile manipulator consisting of a Nomadic XR4000 mobile platform and a Puma 560 robot arm.…”