Kinematics and Moving Properties of a Four-Wheel-Drive, Omnidirectional Mobile Robot
Kinematics and Moving Properties of a Four-Wheel-Drive, Omnidirectional Mobile Robot
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四轮驱动全向移动机器人的运动学和运动特性
DOI：
10.1299/kikaic.62.4573
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发表时间：
1996
期刊：
影响因子：
--
通讯作者：
Hiroo Yamaura
中科院分区：
文献类型：
--
作者：
S. Fujisawa;K. Ohkubo;Y. Shidama;Hiroo Yamaura
研究了一种可以在不改变车身方向的情况下向任意方向移动的全向车辆（ODV）。主要的驱动运动包括四个在其圆周上装有滚轮的轮子。这些滚轮沿着车轮的轴方向旋转。车轮安装在车辆的四面。通过计算机仿真和实验研究了该车辆的运动特性。仿真试验证实了该系统可以向任意方向移动到任意位置。除了全向运动之外，旋转运动和旋转运动也是可能的。在ODV实验中检测了各种运动。为了分析这些结果，构建了一个名为“书法机器人”的全向机器人（ODR），它用毛笔在一张日本书写纸上画了一个草书风格的汉字。对ODR的运动和控制进行了评价，确定了令人满意的运动和控制性能。
An omnidirectional vehicle (ODV), which can move in any direction without changing its body direction, was investigated. The principal driving motion involves four wheels equipped with rollers on their circumference. These rollers rotate along the axle direction of the wheels. The wheels are installed on all four sides of the vehicle. Moving properties of this vehicle were investigated through computer simulations and experiments. The simulation tests confirmed that the ODV can move to arbitrary places in arbitrary directions. Spinning motions and turning motions are also possible in addition to the omnidirectional motion. A variety of movements were examined in the ODV experiments. To analyze these results, an omnidirectional robot (ODR) called "calligraphy robot" was constructed, which drew a cursive style Chinese character with a writing brush on a sheet of Japanese writing paper. Movements and control of the ODR were evaluated, and satisfactory movement and control performances were confirmed.