Position Rectification Control for Mecanum Wheeled Omni-directional Vehicles

Pakpoom Viboonchaicheep, Akira Shimada, Yuhki Kosaka

研究成果: Conference contribution

45 引用 (Scopus)

抄録

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.

元の言語English
ホスト出版物のタイトルIECON Proceedings (Industrial Electronics Conference)
ページ854-859
ページ数6
1
DOI
出版物ステータスPublished - 2003
外部発表Yes
イベントThe 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA
継続期間: 2003 11 22003 11 6

Other

OtherThe 29th Annual Conference of the IEEE Industrial Electronics Society
Roanoke, VA
期間03/11/203/11/6

Fingerprint

Position control
Wheels
Robots
Wheelchairs
Hazards
Kinematics
Sampling
Control systems

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

これを引用

Viboonchaicheep, P., Shimada, A., & Kosaka, Y. (2003). Position Rectification Control for Mecanum Wheeled Omni-directional Vehicles. : IECON Proceedings (Industrial Electronics Conference) (巻 1, pp. 854-859) https://doi.org/10.1109/IECON.2003.1280094

Position Rectification Control for Mecanum Wheeled Omni-directional Vehicles. / Viboonchaicheep, Pakpoom; Shimada, Akira; Kosaka, Yuhki.

IECON Proceedings (Industrial Electronics Conference). 巻 1 2003. p. 854-859.

研究成果: Conference contribution

Viboonchaicheep, P, Shimada, A & Kosaka, Y 2003, Position Rectification Control for Mecanum Wheeled Omni-directional Vehicles. : IECON Proceedings (Industrial Electronics Conference). 巻. 1, pp. 854-859, The 29th Annual Conference of the IEEE Industrial Electronics Society, Roanoke, VA, 03/11/2. https://doi.org/10.1109/IECON.2003.1280094
Viboonchaicheep P, Shimada A, Kosaka Y. Position Rectification Control for Mecanum Wheeled Omni-directional Vehicles. : IECON Proceedings (Industrial Electronics Conference). 巻 1. 2003. p. 854-859 https://doi.org/10.1109/IECON.2003.1280094
Viboonchaicheep, Pakpoom ; Shimada, Akira ; Kosaka, Yuhki. / Position Rectification Control for Mecanum Wheeled Omni-directional Vehicles. IECON Proceedings (Industrial Electronics Conference). 巻 1 2003. pp. 854-859
@inproceedings{3cdf44fb0ade4eb5abe7da6574048d92,
title = "Position Rectification Control for Mecanum Wheeled Omni-directional Vehicles",
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.",
keywords = "Control, Mecanum, Omni-dimensional, Vehicle",
author = "Pakpoom Viboonchaicheep and Akira Shimada and Yuhki Kosaka",
year = "2003",
doi = "10.1109/IECON.2003.1280094",
language = "English",
volume = "1",
pages = "854--859",
booktitle = "IECON Proceedings (Industrial Electronics Conference)",

}

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 -