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.
|出版ステータス||Published - 2003 12 1|
|イベント||The 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA, United States|
継続期間: 2003 11 2 → 2003 11 6
|Conference||The 29th Annual Conference of the IEEE Industrial Electronics Society|
|Period||03/11/2 → 03/11/6|
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