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http://dx.doi.org/10.5573/ieie.2016.53.4.149

Control of an Omni-directional Electric Board using Driver Weight Shift  

Choi, Yong Joon (Dept. of Electrical and Information Eng., Seoul National University of Science and Technology)
Ryoo, Jung Rae (Dept. of Electrical and Information Eng., Seoul National University of Science and Technology)
Publication Information
Journal of the Institute of Electronics and Information Engineers / v.53, no.4, 2016 , pp. 149-155 More about this Journal
Abstract
This paper presents a control method of a mecanum wheel-based omni-directional electric board using driver weight shift. Instead of a steering device such as a joystick or a remote controller, 3 degree-of-freedom driving command for translational and rotational motion of the omni-directional electric board is generated from position of center of gravity measured from weight distribution. The weight shifting motion is not only a driving command but also an intuitive motion to overcome inertial forces. The overall control structure is presented with experimental results to prove validity of the proposed method.
Keywords
Omni-directional electric board; Mecanum wheel; Weight shift; Center of gravity;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
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