Improvement of Energy Efficiency for an Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels

Energy Efficient Drive of an Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels

In this paper the second version of the omnidirectional mobile robot with steerable omnidirectional wheels (OMR-SOW) is presented. This robot can operate in either the omnidirectional or the differential drive mode depending on the drive conditions. In the omnidirectional mode, it has 3 DOFs in motion and 1 DOF in steering which can function as a continuously-variable transmission (CVT). The CV...

Design and Control of an Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels

Applications of wheeled mobile robots have recently extended to service robots for the handicapped or the aged and industrial mobile robots working in various environments. The most popular wheeled mobile robots are equipped with two independent driving wheels. Since these robots possess 2 degrees-of-freedom (DOFs), they can rotate about any point, but cannot perform holonomic motion including ...

Path Following and Velocity Optimizing for an Omnidirectional Mobile Robot

In this paper, the path following controller of an omnidirectional mobile robot (OMR) has been extended in such a way that the forward velocity has been optimized and the actuator velocity constraints have been taken into account. Both have been attained through the proposed model predictive control (MPC) framework. The forward velocity has been included into the objective function, while the a...

Motion control of an omnidirectional mobile robot

This paper focuses on the motion control problem of an omnidirectional mobile robot. A new control method based on the inverse input-output linearized kinematic model is proposed. As the actuator saturation and actuator dynamics have important impacts on the robot performance, this control law takes into account these two aspects and guarantees the stability of the closed-loop control system. R...

Motion control of an omnidirectional mobile robot