This paper presents experimental results of odometric accuracy tests obtained from the first production model of an innovative mobile robot called “OmniMate.” The OmniMate is an omnidirectional platform that comprises two individually controllable drive units (called “trucks”) that are physically connected by a compliant linkage. The compliant linkage allows relative motion between the two truc...

This paper presents a new approach to accurate and reliable dead-reckoning with mobile robots. The approach makes use of special properties of our recently developed Multi-Degreeof-Freedom (MDOF) mobile platform, in which two differential-drive mobile robots (called "trucks") are physically connected through a compliant linkage. Using one linear and two rotary encoders, the system can measure t...

In this paper, we di,;cuss the trajectory control for a wheeled inverse pendulum type mobile robot. The robot has two independent driving wheels on the same axle, and a gyro type sensor to measure the inclination angular velocity of the body and rotary encoders to measure wheel rotation. The purpose of this work is to make a robot autonomously navigate in a plane while keeping its own balance. ...

A novel concept of a rotary electromagnetic actuator for positioning with ultra-low power consumption is presented. The device based on harnessing potential magnetic energy stored between permanent magnets facing each other opposing magnetization polarities. When combined an active control and passive stabilization system, the rotor can switch stable equilibrium positions in fast way minimal fr...

This work presents a system of measuring grinding forces in precision applications. Several experiments demonstrate the performance in monitoring diamond wheel dressing, detecting workpiece contact, and process monitoring. The system appears promising for monitoring precision wafer grinding since this approach provides excellent sensitivity, high signal resolution, and good bandwidth. INTRODUCT...

The Mecanum wheel was designed in Sweden in 1975. Using four of these wheels provides omni-directional movement for a vehicle without needing a conventional steering system (Muir & Neumann, 1990; Dickerson & Lapin, 1991; Braunl, 1999; Navy, USA, 2002 and Lunze & Schmid, 2002). The wheel itself consists of a hub carrying a number of free moving rollers angled at 45° about the hub's circumference...