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

全景式全方位移动机器人因其在狭窄或拥挤区域的高机动性而得到应用，而配备普通轮胎的全方位机器人因其克服水平差异的能力以及其振动抑制和乘坐舒适性而受到人们的欢迎。为了实现完整的全功能机器人，研制了一种使用普通轮胎的万向轮驱动机构，但仍存在一些问题。在这项研究中，我们开发了有效的系统来控制全方位移动机器人的脚轮驱动。提出了一种采用差动传动的差动转向系统(DDSS)，以提高电机的运转率。DDSS由两个电机有效地产生驱动力矩和转向力矩。仿真和实验结果表明，该系统对完整全向移动机器人是有效的。此外，我们还开发了智能助力轮椅，使轮椅机器人能够充分适应操作员S的习惯，以及使用新型智能触觉接口(如触觉接口)的半自主轮椅，可以向操作员传授危险程度。这些成果不仅得到了理论分析的验证，也得到了真实实验的验证，并在日本许多地方举办了大量的展览。因此，得到了许多人的高度评价。

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.