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

Ahmad Yasser Afaghani, Shinichi Yuta, Jae Hoon Lee

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publication2011 IEEE/SICE International Symposium on System Integration, SII 2011
Pages627-633
Number of pages7
DOIs
Publication statusPublished - 2011
Externally publishedYes
Event2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto
Duration: 2011 Dec 202011 Dec 22

Other

Other2011 IEEE/SICE International Symposium on System Integration, SII 2011
CityKyoto
Period11/12/2011/12/22

Fingerprint

Jacobian matrices
Motion control
Mobile robots
Wheels
Kinematics
Robots
Control systems

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Control and Systems Engineering

Cite this

Afaghani, A. Y., Yuta, S., & 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] https://doi.org/10.1109/SII.2011.6147521

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 proceedingConference contribution

Afaghani, AY, Yuta, S & 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, pp. 627-633, 2011 IEEE/SICE International Symposium on System Integration, SII 2011, Kyoto, 11/12/20. https://doi.org/10.1109/SII.2011.6147521
Afaghani AY, Yuta S, Lee JH. 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. 2011. p. 627-633. 6147521 https://doi.org/10.1109/SII.2011.6147521
Afaghani, Ahmad Yasser ; Yuta, Shinichi ; Lee, Jae Hoon. / Jacobian-matrix-based motion control of an Omni-Directional Mobile Robot with three active caster. 2011 IEEE/SICE International Symposium on System Integration, SII 2011. 2011. pp. 627-633
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