Position Rectification Control for Mecanum Wheeled Omni-directional Vehicles

Pakpoom Viboonchaicheep, Akira Shimada, Yuhki Kosaka

研究成果: Paper査読

59 被引用数 (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.

本文言語English
ページ854-859
ページ数6
DOI
出版ステータスPublished - 2003 12月 1
外部発表はい
イベントThe 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA, United States
継続期間: 2003 11月 22003 11月 6

Conference

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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