TY - GEN
T1 - Jacobian-matrix-based motion control of an Omni-Directional Mobile Robot with three active caster
AU - Afaghani, Ahmad Yasser
AU - Yuta, Shin'Ichi
AU - Lee, Jae Hoon
PY - 2011/12/1
Y1 - 2011/12/1
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
T3 - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
SP - 627
EP - 633
BT - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
T2 - 2011 IEEE/SICE International Symposium on System Integration, SII 2011
Y2 - 20 December 2011 through 22 December 2011
ER -