Abstract
This research aims the development of an Omni-Directional Mobile Robot with three active caster type wheels. In this paper, the mechanism and kinematics of the Omni-Directional Mobile Robot which is designed by author's group, and its vehicle control system are explained. This robot has six motors but the motion degree of freedom (DOF) is three. Therefore, special calculation method for control using Jacobian Matrix is proposed. The experimental results are also shown.
| Original language | English |
|---|---|
| Title of host publication | 2011 IEEE/SICE International Symposium on System Integration, SII 2011 |
| Pages | 627-633 |
| Number of pages | 7 |
| DOIs | |
| Publication status | Published - 2011 |
| Externally published | Yes |
| Event | 2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto Duration: 2011 Dec 20 → 2011 Dec 22 |
Other
| Other | 2011 IEEE/SICE International Symposium on System Integration, SII 2011 |
|---|---|
| City | Kyoto |
| Period | 11/12/20 → 11/12/22 |
Fingerprint
ASJC Scopus subject areas
- Computer Networks and Communications
- Control and Systems Engineering
Cite this
Jacobian-matrix-based motion control of an Omni-Directional Mobile Robot with three active caster. / Afaghani, Ahmad Yasser; Yuta, Shinichi; Lee, Jae Hoon.
2011 IEEE/SICE International Symposium on System Integration, SII 2011. 2011. p. 627-633 6147521.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Jacobian-matrix-based motion control of an Omni-Directional Mobile Robot with three active caster
AU - Afaghani, Ahmad Yasser
AU - Yuta, Shinichi
AU - Lee, Jae Hoon
PY - 2011
Y1 - 2011
N2 - This research aims the development of an Omni-Directional Mobile Robot with three active caster type wheels. In this paper, the mechanism and kinematics of the Omni-Directional Mobile Robot which is designed by author's group, and its vehicle control system are explained. This robot has six motors but the motion degree of freedom (DOF) is three. Therefore, special calculation method for control using Jacobian Matrix is proposed. The experimental results are also shown.
AB - This research aims the development of an Omni-Directional Mobile Robot with three active caster type wheels. In this paper, the mechanism and kinematics of the Omni-Directional Mobile Robot which is designed by author's group, and its vehicle control system are explained. This robot has six motors but the motion degree of freedom (DOF) is three. Therefore, special calculation method for control using Jacobian Matrix is proposed. The experimental results are also shown.
UR - http://www.scopus.com/inward/record.url?scp=84863153188&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84863153188&partnerID=8YFLogxK
U2 - 10.1109/SII.2011.6147521
DO - 10.1109/SII.2011.6147521
M3 - Conference contribution
AN - SCOPUS:84863153188
SN - 9781457715235
SP - 627
EP - 633
BT - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
ER -