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 |
|---|---|
| Title of host publication | IECON Proceedings (Industrial Electronics Conference) |
| Pages | 854-859 |
| Number of pages | 6 |
| Volume | 1 |
| DOIs | |
| Publication status | Published - 2003 |
| Externally published | Yes |
| Event | The 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA Duration: 2003 Nov 2 → 2003 Nov 6 |
Other
| Other | The 29th Annual Conference of the IEEE Industrial Electronics Society |
|---|---|
| City | Roanoke, VA |
| Period | 03/11/2 → 03/11/6 |
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Keywords
- Control
- Mecanum
- Omni-dimensional
- Vehicle
ASJC Scopus subject areas
- Electrical and Electronic Engineering
Cite this
Position Rectification Control for Mecanum Wheeled Omni-directional Vehicles. / Viboonchaicheep, Pakpoom; Shimada, Akira; Kosaka, Yuhki.
IECON Proceedings (Industrial Electronics Conference). Vol. 1 2003. p. 854-859.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Position Rectification Control for Mecanum Wheeled Omni-directional Vehicles
AU - Viboonchaicheep, Pakpoom
AU - Shimada, Akira
AU - Kosaka, Yuhki
PY - 2003
Y1 - 2003
N2 - 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.
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.
KW - Control
KW - Mecanum
KW - Omni-dimensional
KW - Vehicle
UR - http://www.scopus.com/inward/record.url?scp=1442329182&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=1442329182&partnerID=8YFLogxK
U2 - 10.1109/IECON.2003.1280094
DO - 10.1109/IECON.2003.1280094
M3 - Conference contribution
AN - SCOPUS:1442329182
VL - 1
SP - 854
EP - 859
BT - IECON Proceedings (Industrial Electronics Conference)
ER -