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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Bemis, S. Riess, B. Nokleby, S. |
| Copyright Year | 2008 |
| Description | Author affiliation: Mechatron. & Robotic Syst. Lab., Univ. of Ontario Inst. of Technol., Oshawa, ON (Bemis, S.; Riess, B.; Nokleby, S.) |
| Abstract | A unique design for an omni-directional platform to be used in conjunction with a robotic arm is presented. The platform differs from other omni-wheel layouts in that its drive axes do not intersect its geometric centre. The platform can be controlled in a local method using a three degree-of-freedom (DOF) joystick interfaced directly with the platform through a microcontroller. A global control method is introduced using encoder feedback to determine velocity and a wireless pose detection system to determine the position and orientation of the platform relative to a defined coordinate system. |
| Starting Page | 000761 |
| Ending Page | 000766 |
| File Size | 1569567 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424416424 |
| ISSN | 08407789 |
| DOI | 10.1109/CCECE.2008.4564638 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2008-05-04 |
| Publisher Place | Canada |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Wheels Control systems Robot kinematics Velocity control Algorithm design and analysis Acceleration Jacobian matrices Vehicles Mobile robots Mechatronics Omnibot omni-wheel control omni-directional |
| Content Type | Text |
| Resource Type | Article |
| Subject | Electrical and Electronic Engineering Hardware and Architecture |
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