Abstract
In this paper, we describe a new type of holonomic and omnidirectional mobile robot using two driving assemblies, one of which consists of two independent driving wheel mechanisms, just like an active dual-wheel caster with an offset steered axis. Kinematic models of the wheel mechanism and a mobile robot with two driving assemblies are derived, and these models are applied to construct a feedback control system based on a resolved velocity control system for the robot. The effectiveness of the presented method is illustrated by some computer simulations. The prototype of a mobile robot platform using two driving assemblies, which can be controlled by a personal computer or a 3D joystick manipulated by human, is constructed.
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Han, F., Yamada, T., Watanabe, K. et al. Construction of an Omnidirectional Mobile Robot Platform Based on Active Dual-Wheel Caster Mechanisms and Development of a Control Simulator. Journal of Intelligent and Robotic Systems 29, 257–275 (2000). https://doi.org/10.1023/A:1008185917537
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DOI: https://doi.org/10.1023/A:1008185917537