Mobile platform with omnidirectional wheels modeling
نویسندگان
چکیده
منابع مشابه
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...
متن کاملDesign 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 ...
متن کاملAn Omnidirectional Mobile Millimeters Size Micro-Robot with Novel Duel-Wheels
A millimeters size omni-directional mobile micro-robot is presented in this paper. A unique duel-wheel structure is designed for no-slip motion during the steering, by turning the slip friction between the wheel and ground into rolling friction. The robot was driven by four electromagnetic micromotors with 2.1mm×2.1mm×1.3mm size. Three of them are for translation and the other one is for rotati...
متن کاملLocalization of a Mobile Robot with Omnidirectional Wheels Using Angular Kalman Filtering and Triangulation
Localization is one of the fundamental problems in mobile robot navigation. Several approaches to cope with the dynamic positioning problem have been made. Most of them use an extended Kalman filter (EKF) to estimate the robot pose –position and orientation– fusing both the robot odometry and external measurements. In this paper, an EKF is used to estimate the angles, relative to the robot fram...
متن کاملA 4WD Omnidirectional Mobile Platform and its Application to Wheelchairs
The aging of society in general and the declining birth rate have become serious social issues world wide, especially in Japan and some European countries. It is reported in Japan that the number of people over 65 years old would reach 30,000,000 in 2012 and increase to over 30% of total population by 2025 (estimated and reported in 2006 by the National Institute of Population and Security Rese...
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ژورنال
عنوان ژورنال: Advanced Information Systems
سال: 2018
ISSN: 2522-9052
DOI: 10.20998/2522-9052.2018.3.04