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A Nonsqueezing Torque Distribution Method for an Omnidirectional Mobile Robot with Powered Castor Wheels

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Intelligent Robotics and Applications (ICIRA 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11740))

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Abstract

This paper presents a novel dynamic modelling approach for omnidirectional mobile robots (OMRs) with powered caster wheels (PCWs). For the conventional dynamic modeling, the internal forces induced by the redundant actuation of the OMR are not analyzed, which will affect the dynamic performance and result in unstable robot motions. To eliminate the internal forces, a general nonsqueezing load distribution model is proposed and integrated with the dynamic model of the OMR. By the nonsqueezing dynamic model, the driving torques applied by the PCWs all contribute to the motion of the OMR. Consequently, the required driving torques are reduced compared to the conventional torque distribution method, which will improve the dynamic performance and energy efficiency for the OMR. To illustrate the effectiveness of the nonsqueezing dynamic model, simulation examples are provided.

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Acknowledgement

This research is supported by National Key R&D Program of China (2017YFB1300400), NSFC-Zhejiang Joint Fund (U1509202), Equipment Pre-research fund Project (6140923010102), and Innovation Team of Key Components and Technology for the New Generation Robot (2016B10016).

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Authors and Affiliations

  1. University of Chinese Academy of Sciences, Beijing, 100049, China

    Wenji Jia & Guilin Yang

  2. Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology, Ningbo Institute of Materials Technology and Engineering, CAS, Ningbo, 315201, China

    Wenji Jia, Guilin Yang, Chongchong Wang, Qiang Liu, Zaojun Fang & Chinyin Chen

Authors
  1. Wenji Jia
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  2. Guilin Yang
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  3. Chongchong Wang
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  4. Qiang Liu
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  5. Zaojun Fang
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  6. Chinyin Chen
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Corresponding author

Correspondence to Guilin Yang .

Editor information

Editors and Affiliations

  1. Shenyang Institute of Automation, Shenyang, China

    Haibin Yu

  2. Shenyang Institute of Automation, Shenyang, China

    Jinguo Liu

  3. Shenyang Institute of Automation, Shenyang, China

    Lianqing Liu

  4. University of Portsmouth, Portsmouth, UK

    Zhaojie Ju

  5. Shenyang Institute of Automation, Shenyang, China

    Yuwang Liu

  6. University of Portsmouth, Portsmouth, UK

    Dalin Zhou

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Jia, W., Yang, G., Wang, C., Liu, Q., Fang, Z., Chen, C. (2019). A Nonsqueezing Torque Distribution Method for an Omnidirectional Mobile Robot with Powered Castor Wheels. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11740. Springer, Cham. https://doi.org/10.1007/978-3-030-27526-6_62

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  • DOI: https://doi.org/10.1007/978-3-030-27526-6_62

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-27525-9

  • Online ISBN: 978-3-030-27526-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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