Position Rectification Control for Mecanum Wheeled Omni-directional Vehicles

Pakpoom Viboonchaicheep; Akira Shimada; Yuhki Kosaka

doi:10.1109/IECON.2003.1280094

Position Rectification Control for Mecanum Wheeled Omni-directional Vehicles

Pakpoom Viboonchaicheep, Akira Shimada, Yuhki Kosaka

Research output: Contribution to conference › Paper › peer-review

52 Citations (Scopus)

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	https://doi.org/10.1109/IECON.2003.1280094
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

Access to Document

10.1109/IECON.2003.1280094

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Cite this

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AU - Shimada, Akira

AU - Kosaka, Yuhki

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AB - 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.

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