Design and control of the ball wheel drive mechanism for a robust Omnidirectional Wheeled Mobile Platform

被引：0
|
作者：
Lee, Young-Chul [1 ]
Lee, Danny V. [1 ]
Chung, Jae H. [2 ]
Bennett, Duane A. [1 ]
Velinsky, Steven A. [1 ]
机构：
[1] Univ Calif Davis, Dept Mech & Aeronaut Engn, Davis, CA 95616 USA
[2] Stevens Inst Technol, Dept Mech Engn, Hoboken, NJ USA
来源：
ROMANSY 16: ROBOT DESIGN, DYNAMICS , AND CONTROL | 2006年 / 487卷
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper discusses design and control of a new ball wheel drive mechanism for a robust omnidircctional wheeled mobile platform. This platform is designed for use in the highway maintenance and construction area, which is a generally an unstructured and congested environment. The proposed ball wheel mechanism can move in all directions on the plane, instantaneously and isotropically. Other novel features include: active regulation of traction drive contact pressure and an optimally controlled reconfigurable drive system.
引用
收藏
页码：387 / +
页数：2
相关论文
共 50 条
  • [41] Robust tracking control for a wheeled mobile robot
    Tayebi, A
    Rachid, A
    MELECON '96 - 8TH MEDITERRANEAN ELECTROTECHNICAL CONFERENCE, PROCEEDINGS, VOLS I-III: INDUSTRIAL APPLICATIONS IN POWER SYSTEMS, COMPUTER SCIENCE AND TELECOMMUNICATIONS, 1996, : 193 - 196
  • [42] Dynamics and robust control of wheeled mobile robot
    Hendzel, Z
    Zylski, W
    INTELLIGENT AUTONOMOUS VECHICLES 1998 (IAV'98), 1998, : 147 - 152
  • [43] A position control differential drive wheeled mobile robot
    Chung, Y
    Park, C
    Harashima, F
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2001, 48 (04) : 853 - 863
  • [44] Motion Analysis and Control of Three-Wheeled Omnidirectional Mobile Robot
    Nacer Hacene
    Boubekeur Mendil
    Journal of Control, Automation and Electrical Systems, 2019, 30 : 194 - 213
  • [45] Mechanism and control of wheeled mobile robot platform which can travel over a step
    Koyanagi, E
    Yuta, S
    MOBILE ROBOT TECHNOLOGY, PROCEEDINGS, 2001, : 281 - 286
  • [46] Active Steerable Driving Mechanism Using Two In-wheel Motors for Omnidirectional Motion of Robotic Mobile Platform
    Park, Susan
    Lee, Yong-Jun
    Ryoo, Young-Jae
    Byun, Kyung Seok
    2016 JOINT 8TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS (SCIS) AND 17TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS (ISIS), 2016, : 382 - 385
  • [47] Active Steerable Driving Mechanism Using Two In-Wheel Motors for Omnidirectional Motion of Robotic Mobile Platform
    1600, Institute of Electrical and Electronics Engineers Inc., United States
  • [48] Motion Analysis and Control of Three-Wheeled Omnidirectional Mobile Robot
    Hacene, Nacer
    Mendil, Boubekeur
    JOURNAL OF CONTROL AUTOMATION AND ELECTRICAL SYSTEMS, 2019, 30 (02) : 194 - 213
  • [49] Stable PD and internal force control of omnidirectional wheeled mobile manipulators
    Xu, Dong
    Zhao, Dongbin
    Yi, Jianqiang
    Deng, Xuyue
    Yang, Guosheng
    2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS, 2007, : 1362 - +
  • [50] TRAJECTORY TRACKING CONTROL BASED ON ADAPTIVE NEURAL DYNAMICS FOR FOUR-WHEEL DRIVE OMNIDIRECTIONAL MOBILE ROBOTS
    Wang, J.
    Chen, J.
    Ouyang, S.
    Yang, Y.
    ENGINEERING REVIEW, 2014, 34 (03) : 235 - 243
12345