The Development of Driving System with Differential Drive Steering System for Omni-directional Mobile Robot

被引：7
|
作者：
Ueno, Yuki [1 ]
Ohno, Takashi [1 ]
Terashima, Kazuhiko [1 ]
Kitagawa, Hideo [2 ]
机构：
[1] Toyohashi Univ Technol, Dept Prod Syst Engn, Tempa Ku, Toyohashi, Aichi, Japan
[2] Gifu Natl Coll Technol, Dept Elect Coll Technol, Gifu, Japan
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS | 2009年
关键词：
Mobile robots; Movement; Robot kinematics; Vehicles; Wheels; Ride comfort;
D O I：
10.1109/ICMA.2009.5246142
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Holonomic omnidirectional mobile robot is useful with its high mobility in narrow or crowded area, and omnidirectional robot equipped with normal tires is desired to ride across difference in level, vibration suppression and ride comfort. Caster-drive mechanism using normal tire has been developed to realize a holonomic omnidiredctional robot, however, there remains some problems. This paper presents effective systems to control the caster-drive wheels of omnidirectional mobile robot. Differential-Drive Steering System (DDSS) using planetary gearing is proposed to improve the operation ratio of motors. DDSS generates driving and steering torque effectively from two motors. Simulation and experimental results show the proposed system is effective for holonomic omnidirectional mobile robots.
引用
收藏
页码：1089 / +
页数：2
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