Jacobian-matrix-based motion control of an Omni-Directional Mobile Robot with three active caster

Ahmad Yasser Afaghani; Shin'Ichi Yuta; Jae Hoon Lee

doi:10.1109/SII.2011.6147521

Jacobian-matrix-based motion control of an Omni-Directional Mobile Robot with three active caster

Ahmad Yasser Afaghani, Shin'Ichi Yuta, Jae Hoon Lee

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

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	https://doi.org/10.1109/SII.2011.6147521
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

Other

Other	2011 IEEE/SICE International Symposium on System Integration, SII 2011
Country	Japan
City	Kyoto
Period	11/12/20 → 11/12/22

ASJC Scopus subject areas

Computer Networks and Communications
Control and Systems Engineering

Access to Document

10.1109/SII.2011.6147521

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Jacobian-matrix-based motion control of an Omni-Directional Mobile Robot with three active caster. / Afaghani, Ahmad Yasser; Yuta, Shin'Ichi; Lee, Jae Hoon.

2011 IEEE/SICE International Symposium on System Integration, SII 2011. 2011. p. 627-633 6147521 (2011 IEEE/SICE International Symposium on System Integration, SII 2011).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Afaghani, AY, Yuta, SI & Lee, JH 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., 6147521, 2011 IEEE/SICE International Symposium on System Integration, SII 2011, pp. 627-633, 2011 IEEE/SICE International Symposium on System Integration, SII 2011, Kyoto, Japan, 11/12/20. https://doi.org/10.1109/SII.2011.6147521

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