Construction of an Omnidirectional Mobile Robot Platform Based on Active Dual-Wheel Caster Mechanisms and Development of a Control Simulator |
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| Authors: | Fuhua Han Takaaki Yamada Keigo Watanabe Kazuo Kiguchi Kiyotaka Izumi |
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| Affiliation: | (1) Faculty of Engineering Systems and Technology, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, Saga, 840-8502, Japan;(2) Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, Saga, 840-8502, Japan;(3) Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, Saga, 840-8502, Japan;(4) Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, 1-Honjomachi, Saga, 840-8502, Japan |
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| Abstract: | In this paper, we describe a new type of holonomic and omnidirectional mobile robot using two driving assemblies, one of which consists of two independent driving wheel mechanisms, just like an active dual-wheel caster with an offset steered axis. Kinematic models of the wheel mechanism and a mobile robot with two driving assemblies are derived, and these models are applied to construct a feedback control system based on a resolved velocity control system for the robot. The effectiveness of the presented method is illustrated by some computer simulations. The prototype of a mobile robot platform using two driving assemblies, which can be controlled by a personal computer or a 3D joystick manipulated by human, is constructed. |
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| Keywords: | active dual-wheel caster control system by 3D joystick holonomic mobile robot kinematic model omnidirectionality resolved velocity control |
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