• Title/Summary/Keyword: Omni Wheels

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Design of a Cleaning Robot with Omni-directional Mobility (전방향 이동이 가능한 청소로봇의 구동장치)

  • Jin, Taeseok
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • 2014.10a
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    • pp.899-901
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    • 2014
  • This paper presents design of a cleaning robot with an omni-directional mobility. The cleaning robot driven with three wheels has been developed and Those omni-wheels enable the robot to move in any directions so that lateral movement is possible. Three wheels mechanism using ball-type tire has been developed to realize a holonomic omni-diredctional robot.

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Development of Omni-Directional Mobile Robot System with Rocker-Bogie Link Structure (로커-보기 링크 구조를 갖는 전방향 이동로봇 시스템개발)

  • Gang Taig-Gi;Yi Soo-Yeong
    • Journal of Institute of Control, Robotics and Systems
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    • v.12 no.7
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    • pp.679-685
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    • 2006
  • In this paper, development of an omni-directional mobile robot with rocker-bogie link structure is addressed. The overall mobile robot system consists of the robot mechanism with embedded control architecture, wireless communication with host graphic monitoring system, and the joy stick tole-controller. In the cluttered environment with various sizes of obstacles, the omni-directionality and the traversality are required for a mobile robot, so that the robot call go around or climb over the obstacles according to the size. The mobile robot mechanism developed in this paper has both of the omni-directionality and the traversality by 4 steerable driving wheels and the 2 additional passive omni-directional wheels linked with the rocker-bogie structure. The kinematic modeling for the mobile robot is described based on the well-known Sheth-Uicker convention and the instantaneous coordinate system.

Mobile Performance Evaluation of Mecanum Wheeled Omni-directional Mobile Robot (메카넘휠 기반의 전방향 이동로봇 주행성능 평가)

  • Chu, Baeksuk;Sung, Young Whee
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.23 no.4
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    • pp.374-379
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    • 2014
  • 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.

Tracking Control of 3-Wheels Omni-Directional Mobile Robot Using Fuzzy Azimuth Estimator (퍼지 방위각 추정기를 이용한 세 개의 전 방향 바퀴 구조의 이동로봇시스템의 개발)

  • Kim, Sang-Dae;Kim, Seung-Woo
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.11 no.10
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    • pp.3873-3879
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    • 2010
  • Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

Odometry and Navigation of an Omni-directional Mobile Robot with Active Caster Wheels (구동 캐스터 바퀴를 이용한 전방향 모바일 로봇의 오도메트리와 내비게이션)

  • Jung, Eui-Jung;Yi, Byung-Ju
    • Journal of Institute of Control, Robotics and Systems
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    • v.15 no.10
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    • pp.1014-1020
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    • 2009
  • This work deals with navigation of an omni-directional mobile robot with active caster wheels. Initially, the posture of the omni-directional mobile robot is calculated by using the odometry information. Next, the position accuracy of the mobile robot is measured through comparison of the odometry information and the external sensor measurement. Finally, for successful navigation of the mobile robot, a motion planning algorithm that employs kinematic redundancy resolution method is proposed. Through experiments for multiple obstacles and multiple moving obstacles, the feasibility of the proposed navigation algorithm was verified.

Development of Educational Robot Platform Based on Omni-directional Mobile Mechanism (전방향 이동 메커니즘 기반의 교육용 로봇 플랫폼 개발)

  • Chu, Baeksuk;Sung, Young Whee
    • Journal of the Korean Society for Precision Engineering
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    • v.30 no.11
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    • pp.1161-1169
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    • 2013
  • In this paper an omni-directional mobile robot is suggested for educational robot platform. Comparing to other robots, a mobile robot can be easily designed and manufactured due to its simple geometric structure. Moreover, since it is required to have low DOF motion on planar space, fabrication of control system is also simple. In this research, omni-directional wheels were adopted to remove the non-holonomic characteristic of conventional wheels and facilitate control system design. Firstly, geometric structure of a Mecanum wheel which is a most frequently used omni-directional wheel was demonstrated. Then, the organization of the mobile platform was suggested in aspects of mechanism manufacturing and electronic hardware design. Finally, a methodology of control system development was introduced for educational purpose. Due to an intuitive motion generating ability, simple hardware composition, and convenient control algorithm applicability, the omni-directional mobile robot suggested in this research is expected to be a promising educational platform.

A New Wheel Arrangement by Dynamic Modeling and Driving Performance Analysis of Omni-directional Robot (다중이동로봇의 동적 모델링 및 구동성능 분석을 통한 새로운 바퀴 배치 제안)

  • Shin, Sang Jae;Kim, Haan;Kim, Seong Han;Chu, Chong Nam
    • Journal of the Korean Society for Precision Engineering
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    • v.30 no.1
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    • pp.18-23
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    • 2013
  • Omni-directional robot is a typical holonomic constraint robot that has three degrees of freedom movement in 2D plane. In this study, a new omni-directional robot whose wheels are arranged in radial directions was proposed to improve driving performance of the robot. Unlike a general omni-directional robot whose wheels were arranged in a circumferential direction, moments do not arises in the proposed robot when the robot travels in a straight line. To analyze driving performance, dynamic modeling of the omni-directional robot, which considers friction and slip, was carried out. By friction measurement experiments, the relationship between dynamic friction coefficient and relative velocity was derived. Dynamic friction coefficient according to the angle difference between robot travel direction and wheel rotation direction was also obtained. By applying these results to the dynamic model, driving performance of the robot was calculated. As a result, the proposed robot was 1.5 times faster than the general robot.

Position Control Algorithm and Experimental Evaluation of an Omni-directional Mobile Robot (전방향 이동로봇 위치제어 알고리즘과 실험적 검증)

  • Chu, Baeksuk;Cho, Gangik;Sung, Young Whee
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.24 no.2
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    • pp.141-147
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    • 2015
  • In this study, a position control algorithm for an omni-directional mobile robot based on Mecanum wheels was introduced and experimentally evaluated. Multiple ultrasonic sensors were installed around the mobile robot to obtain position feedback. Using the distance of the robot from the wall, the position and orientation of the mobile robot were calculated. In accordance with the omni-directional velocity generation mechanism, the velocity kinematics between the Mecanum wheel and the mobile platform were determined. Based on this formulation, a simple and intuitive position control algorithm was suggested. To evaluate the control algorithm, a test bed composed of artificial walls was designed and implemented. While conventional control algorithms based on normal wheels require additional path planning for two-dimensional planar motion, the omni-directional mobile robot using distance sensors was able to directly follow target positions with the simple proposed position feedback algorithm.

Design and Control of an Omni-directional Cleaning Robot Based on Landmarks (랜드마크 기반의 전방향 청소로봇 설계 및 제어)

  • Kim, Dong Won;Igor, Yugay;Kang, Eun Seok;Jung, Seul
    • Journal of the Korean Institute of Intelligent Systems
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    • v.23 no.2
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    • pp.100-106
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    • 2013
  • This paper presents design and control of an 'Omni-directional Cleaning Robot (OdCR)' which employs omni-wheels at three edges of its triangular configuration. Those omni-wheels enable the OdCR to move in any directions so that lateral movement is possible. For OdCR to be localized, a StarGazer sensor is used to provide accurate position and heading angle based on landmarks on the ceiling. In addition to that, ultrasonic sensors are installed to detect obstacles around OdCR's way. Experimental studies are conducted to test the functionality of the system.

Autonomous Omni-Directional Cleaning Robot System Design

  • Choi, Jun-Yong;Ock, Seung-Ho;Kim, San;Kim, Dong-Hwan
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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    • pp.2019-2023
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    • 2005
  • In this paper, an autonomous omni directional cleaning robot which recognizes an obstacle and a battery charger is introduced. It utilizes a robot vision, ultra sonic sensors, and infrared sensors information along with appropriate algorithm. Three omni-directional wheels make the robot move any direction, enabling a faster maneuvering than a simple track typed robot. The robot system transfers command and image data through Blue-tooth wireless modules to be operated in a remote place. The robot vision associated with sensor data makes the robot proceed in an autonomous behavior. An autonomous battery charger searching is implemented by using a map-building which results in overcoming the error due to the slip on the wheels, and camera and sensor information.

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