Browse > Article
http://dx.doi.org/10.7735/ksmte.2014.23.4.374

Mobile Performance Evaluation of Mecanum Wheeled Omni-directional Mobile Robot  

Chu, Baeksuk (Department of Intelligent Mechanical Engineering, Kumoh National Institute of Technology)
Sung, Young Whee (School of Electronic Engineering, Kumoh National Institute of Technology)
Publication Information
Journal of the Korean Society of Manufacturing Technology Engineers / v.23, no.4, 2014 , pp. 374-379 More about this Journal
Abstract
Mobile robots with omni-directional wheels can generate instant omni-directional motion without requiring extra space to change the direction of the body. Therefore, they are capable of moving in an arbitrary direction under any orientation even in narrow aisles or tight areas. In this research, an omni-directional mobile robot based on Mecanum wheels was developed to achieve omni-directionality. A CompactRIO embedded real-time controller and C series motion and I/O modules were employed in the control system design. Ultrasonic sensors installed on the front and lateral sides were utilized to measure the distance between the mobile robot and the side wall of a workspace. Through intensive experiments, a performance evaluation of the mobile robot was conducted to confirm its feasibility for industrial purposes. Mobility, omni-directionality, climbing capacity, and tracking performance of a squared trajectory were selected as performance indices to assess the omni-directional mobile robot.
Keywords
Mobile performance evaluation; Omni-directional mobile robot; Mecanum wheel; Ultrasonic sensor;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 Doroftei, I., Grosu, V., Spinu, V., 2007, Omnidirectional Mobile Robot - Design and Implementation, Bioinspiration and Robotics: Walking and Climbing Robots, I-Tech Education and Publishing, Vienna, 511-528.
2 Chu, B., Sung, Y. W., 2013, Development of Educational Robot Platform Based on Omni-directional Mobile Mechanism, Journal of the Korean Society of Precision Engineering 30:11 1161-1169.   과학기술학회마을   DOI
3 Adascalitei, F., Doroftei, I., 2011, Practical Applications for Mobile Robots based on Mecanum Wheels - a Systematic Survey, The Romanian Review Precision Mechanics, Optics & Mechatronics 20 21-29.
4 Muir, P. F., Neuman, C. P., 1987, Kinematic Modeling for Feedback Control of an Omnidirectional Wheeled Mobile Robot, In Proceedings of IEEE International Conference on Robotics and Automation 1172-1178.
5 Chu, B., Sung, Y. W., 2013, Kinematic Modeling and Position Compensation Based on Mecanum Wheeled Omni-directional Mobile Robot, In Proceedings of International Symposium on Green Manufacturing and Applications A-10-3.
6 Chu, B., Sung, Y. W., 2013, Mechanical and Eectrical Design about a Mecanum Wheeled Omni-directional Mobile Robot, In Proceedings of International Conference on Ubiquitous Robots and Ambient Intelligence 4-1.