A Mobile Platform for Nursing Robots |
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Authors: | Borenstein Johann Koren Yoram |
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Affiliation: | The Faculty on Mechanical Engineering, Institute for Technology, Technion, Haifa, Israel.; |
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Abstract: | This paper describes a computer-controlled vehicle which is part of a nursing robot system currently under development at the Technion-Israel Institute for Technology. The platform of this vehicle can also be used for household robots. Design considerations, control algorithms, and the necessary sensory devices are discussed. The vehicle applies a motion control strategy which avoids slippage and minimizes position errors. Experimental results, performed on a prototype vehicle, are described as well. |
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