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

Ahmad Yasser Afaghani, Shin'Ichi Yuta, Jae Hoon Lee

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2011 IEEE/SICE International Symposium on System Integration, SII 2011
ページ627-633
ページ数7
DOI
出版ステータスPublished - 2011 12 1
イベント2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan
継続期間: 2011 12 202011 12 22

出版物シリーズ

名前2011 IEEE/SICE International Symposium on System Integration, SII 2011

Other

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

ASJC Scopus subject areas

  • コンピュータ ネットワークおよび通信
  • 制御およびシステム工学

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