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http://dx.doi.org/10.5391/JKIIS.2014.24.4.412

An Experimental Study on Control and Development of an Omni-directional Mobile Robot  

Lee, Jeong Hyung (Department of Mechatronics Engineering, Chungnam National University)
Jung, Seul (Department of Mechatronics Engineering, Chungnam National University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.24, no.4, 2014 , pp. 412-417 More about this Journal
Abstract
This paper presents the development and control of an omni-directional holonomic mobile robot platform, which is equipped with three lateral orthogonal-wheel assemblies. Omni-directionality can be achieved with decoupled rotational and translational motions. Simulation studies on collision avoidance are conducted. A real robot is built and its hardware is implemented to control the robot. Control algorithm is embedded on DSP and FPGA chips. Hardware for motor control such as PWM, encoder counter, serial communication modules is implemented on an FPGA chip. Experimental studies of following joystick commands are performed to demonstrate the functionality and controllability of the robot.
Keywords
Omni-directional mobile robot; Collision avoidance; Control hardware; Experimental studies;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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