Command system and motion control for caster-type omni-directional mobile robot

Jae Hoon Lee, Shin'ich Yuta, Eiji Koyanagi, Byung Ju Yi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Citations (Scopus)

Abstract

Despite that omni-directional mobile robots have been investigated and used popularly, there are rarely useful command systems and control methods for practical applications. In this research, a command system to describe the navigation task for an omni-directional mobile robot is developed, and a motion generation method considering the robot geometry and the given trajectory is proposed. Furthermore, a control method to track the given linear and circular trajectories is proposed. A closed form kinematic model was utilized for motion generation and control as well. A redundantly actuated omni-directional mobile robot that consists of three caster-type wheel mechanisms with high performance embedded controller module was developed for the experiments. And some experiments in the real environment were carried out to verify the effectiveness of the proposed command system and the performance of the motion generation and the trajectory control method.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages2714-2720
Number of pages7
DOIs
Publication statusPublished - 2005 Dec 1
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
Duration: 2005 Aug 22005 Aug 6

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

OtherIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CountryCanada
CityEdmonton, AB
Period05/8/205/8/6

Keywords

  • Command system
  • Motion generation
  • Omni-directional mobile robot
  • Trajectory control

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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  • Cite this

    Lee, J. H., Yuta, S., Koyanagi, E., & Yi, B. J. (2005). Command system and motion control for caster-type omni-directional mobile robot. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 2714-2720). [1545386] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2005.1545386