Abstract
In recent years, an omni-directional vehicle system using Mecanum wheels has been developed and used in wheel-chairs. It should be more widely utilized as a kind of robot for intelligent wheelchairs or vehicle robots for hazards by making the best use of its unique features. This paper presents a position rectification method during position and orientation control with multi-sampling periods. The control system is based on unique kinematics, which are under holonomic constraints. The idea for the proposed rectification method consisting of symptomatic rectification and preventive rectification has been borrowed from medical science.
| Original language | English |
|---|---|
| Pages | 854-859 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2003 Dec 1 |
| Externally published | Yes |
| Event | The 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA, United States Duration: 2003 Nov 2 → 2003 Nov 6 |
Conference
| Conference | The 29th Annual Conference of the IEEE Industrial Electronics Society |
|---|---|
| Country | United States |
| City | Roanoke, VA |
| Period | 03/11/2 → 03/11/6 |
Keywords
- Control
- Mecanum
- Omni-dimensional
- Vehicle
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
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Cite this
Viboonchaicheep, P., Shimada, A., & Kosaka, Y. (2003). Position Rectification Control for Mecanum Wheeled Omni-directional Vehicles. 854-859. Paper presented at The 29th Annual Conference of the IEEE Industrial Electronics Society, Roanoke, VA, United States. https://doi.org/10.1109/IECON.2003.1280094