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 |
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| 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 Dec 1 |
| Event | 2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan Duration: 2011 Dec 20 → 2011 Dec 22 |
Publication series
| Name | 2011 IEEE/SICE International Symposium on System Integration, SII 2011 |
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Other
| Other | 2011 IEEE/SICE International Symposium on System Integration, SII 2011 |
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| Country | Japan |
| City | Kyoto |
| Period | 11/12/20 → 11/12/22 |
ASJC Scopus subject areas
- Computer Networks and Communications
- Control and Systems Engineering
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Cite this
Afaghani, A. Y., Yuta, SI., & Lee, J. H. (2011). Jacobian-matrix-based motion control of an Omni-Directional Mobile Robot with three active caster. In 2011 IEEE/SICE International Symposium on System Integration, SII 2011 (pp. 627-633). [6147521] (2011 IEEE/SICE International Symposium on System Integration, SII 2011). https://doi.org/10.1109/SII.2011.6147521