NDLI: Virtual link model for redundantly actuated holonomic omnidirectional mobile robots

Content Provider	IEEE Xplore Digital Library
Author	Wada, M.
Copyright Year	2006
Description	Author affiliation: Dept. of Mech. Eng., Saitama Inst. of Technol. (Wada, M.)
Abstract	This paper presents a new modeling method for holonomic omnidirectional mobile robots propelled by powered-casters. A mobile robot with powered-casters is redundantly actuated since it is controlled by four or more numbers of motors while its configuration is represented by 3DOF on the ground. The redundant architecture leads inverse problems on motion planning, actuator coordination, static or dynamic control, and dead-reckoning calculations with redundant wheel information. To overcome those problems led by the redundant architecture, a new modeling method based on the virtual linkage concept is proposed. The virtual linkages are applied for representing virtual deformations of a robot frame even though an actual robot frame cannot be deformed. The virtual frame deformation provides additional DOF on the robot, which allows total robot DOF equal to the number of actuators equipped with the mobile robot. The acquired n-wheeled robot model with virtual linkages satisfies a class of 2n by 2n system, no redundancy is found in a control system where no inverse calculations of non-square matrices, nor motion planning of redundant actuators. The proposed virtual link model is generalized and a unified procedure is presented for n-wheeled mobile robots. A modeling example is shown and experiments of a three-wheeled robot prototype are performed for evaluating the proposed model and its implementation to a redundantly actuated omnidirectional mobile robot
Sponsorship	IEEE Robotics and Autom. Soc
Starting Page	3201
Ending Page	3207
File Size	935138
Page Count	7
File Format	PDF
ISBN	0780395050
ISSN	10504729
DOI	10.1109/ROBOT.2006.1642189
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Robot kinematics Actuators Couplings Motion planning Motion control Propulsion Inverse problems Wheels Control system synthesis
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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