Development of an omni-directional mobile robot with 3 DOF decoupling drive mechanism
Development of an omni-directional mobile robot with 3 DOF decoupling drive mechanism
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具有三自由度解耦驱动机构的全向移动机器人的研制
DOI：
10.1109/robot.1995.525546
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发表时间：
1995
期刊：
影响因子：
--
通讯作者：
I. Endo
中科院分区：
文献类型：
--
作者：
H. Asama;Masatoshi Sato;L. Bogoni;H. Kaetsu;A. Matsumoto;I. Endo
设计了一种用于全向移动机器人的新型驱动机构，该机构通过三个相应的执行器以解耦方式实现3自由度运动控制，且无冗余。开发了带有该驱动机构的全向移动机器人原型，其中包括一个平行连杆悬架机构。还分析了全向移动机器人的运动学，并通过一种带插值的速度调制方法对机器人的速度控制进行了仿真，以实现给定的目标位置和速度。
A new driving mechanism for holonomic omnidirectional mobile robots is designed, which enables 3 DOF motion control by three correspondent actuators in a decoupled manner with no redundancy. A prototype of the omnidirectional mobile robot with the driving mechanism is developed including a parallel link suspension mechanism. The kinematics of the omnidirectional mobile robot is also analyzed, and simulation for velocity control of the robot is performed by a method for velocity modulation with interpolation to achieve the given target position and velocity.