Research on Optimal Integrated Control of Omni-directional Mobile Vehicle by Novel Differential Drive and Steering Mechanism

点击翻译按钮获取中文摘要

Holonomic omnidirectional mobile robots are useful because of their high level of mobility in narrow or crowded areas, and omnidirectional robots equipped with normal tires are desired for their ability to surmount difference in level as well as their vibration suppression and ride comfort. A caster drive mechanism using normal tires has been developed to realize a holonomic omnidiredctional robot, but some problems has remain. In this research, we developed effective systems to control the caster-drive wheels of an omnidirectional mobile robot. We proposed a Differential-Drive Steering System(DDSS) using differential gearing to improve the operation ratio of motors. The DDSS generates driving and steering torque effectively from two motors. Simulation and experimental results show that the proposed system is effective for holonomic omnidirectional mobile robots. Furthermore, we developed both an intelligent power assist wheelchair for helper such that wheelchair robot adequately can adjust for the operator' s habit, and an semi-autonomous wheelchair using a novel intelligent haptic interface such as its haptic interface can teach the operator on the degree of danger. These achievements has been validated by not onlu theoretical analysis but also by real experiments, and demonstrated by a lot of exhibition held in many places of Japan. Thus, high evaluation has been obtained by many people.