Position Rectification Control for Mecanum Wheeled Omni-directional Vehicles

Pakpoom Viboonchaicheep, Akira Shimada, Yuhki Kosaka

Research output: Contribution to conferencePaper

50 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 languageEnglish
Pages854-859
Number of pages6
DOIs
Publication statusPublished - 2003 Dec 1
EventThe 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA, United States
Duration: 2003 Nov 22003 Nov 6

Conference

ConferenceThe 29th Annual Conference of the IEEE Industrial Electronics Society
CountryUnited States
CityRoanoke, VA
Period03/11/203/11/6

Keywords

  • Control
  • Mecanum
  • Omni-dimensional
  • Vehicle

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Position Rectification Control for Mecanum Wheeled Omni-directional Vehicles'. Together they form a unique fingerprint.

  • 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