제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2002년도 ICCAS
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- Pages.37.6-37
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- 2002
Motion Control of an Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels
초록
Omnidirectional mobile robots are capable of arbitrary motion in an arbitrary direction without changing the direction of wheels, because they can perform 3 degree-of-freedom (DOF) motion on a 2-dimensional plane. In this research, a new class of an omnidirectional mobile robot is proposed. Since it has synchronously steerable omnidirectional wheels, it is called an omnidirectional mobile robot with steerable omnidirectional wheels (OMR-SOW). It has 3 DOFs in motion and one DOF in steering. One steering DOF can function as a continuously variable transmission (CVT). CVT of the OMR-SOW increases the range of velocity ratio from the wheel velocities to robot velocity, which may improve...
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