Mechatronics design and kinematic modelling of a singularityless omni-directional wheeled mobile robot

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2003, Pages 3237-3242

  Loh, W K ^a   Low, K H ^a   Leow, Y P ^b  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

^b SINGAPORE INSTITUTE OF MANUFACTURING TECHNOLOGY   (Singapore)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SYSTEM ANALYSIS; EQUATIONS OF MOTION; KINEMATICS; MATHEMATICAL MODELS; MATRIX ALGEBRA; MECHATRONICS;

JACOBIAN MATRIX; MOBILITY ANALYSIS; OMNIDIRECTIONAL WHEELED MOBILE ROBOT;

MOBILE ROBOTS;

EID: 0344464938     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (20)

1. Killough, S.M. and Pin, F.G. 1992. Design of an omni-directional and holonomic wheeled platform prototype. Proc. IEEE Int Conf on Robotics and Automation, 84-90, Nice, France.
2. Leow, Y.P., Angeles, J. and Low, K.H. 2000. A comparative mobility study of three-wheeled mobile roots. Proc. The Sixth International Conference on Control, Automation, Robotics and Vision, CD-ROM, Singapore.
3. Leow, Y.P. and Low, K.H. 2001. Mobile platform with centred wheels. Proc. Second Asian Symposium on Industrial Automation and Robotics, 21-28, Bangkok, Thailand.
4. Alexander, J.C. and Maddocks, J.H. 1989. On the kinematics of wheeled mobile robots. The Int Journal of Robotics Research, 8(5):15-27.
5. Dong, S.K., Hyun, C.L. and Wook, H.K. 2000. Geometric kinematics modeling of omnidirectional autonomous mobile robots and its applications. Proc. IEEE Int Conf on Robotics and Automation, 2033-2038, San Francisco, California.
6. Leow, Y.P., Low, K.H. and Lim, S.Y. 2001. Kinematic modeling and analysis of mobile robots with centred wheels. Proc. Sixth International Conference on Mechatronics Technology, CD-ROM, Singapore.
7. West, M. and Asada, H. 1994. Design of ball wheel vehicles with full mobility, invariant kinematics and dynamics and anti-slip control. Proc. The 1994 ASME Design Technical Conference - 23rd Biennial Mechanisms Conference, 72:377-384, Minneapolis, Minnesota.
8. Campion, G., Bastin, G. and D'Andréa-Novel, B. 1993. Structural properties and classification of kinematic and dynamic models of wheeled mobile robots. Proc. IEEE Int Conf on Robotics and Automation, 462-469, Atlanta, Georgia.
9. Yi, B.-J. and Kim, W. K. 2000. The kinematics for redundantly actuated omni-directional mobile robots. Proc. of the IEEE Int Conf on Robotics and Automation, 2485-2492, San Francisco, California.
10. Ferrière, L., Raucent, B. and Fournier, A. 1996. Design of a mobile robot equipped with off-centered orientable wheels. Proc. Research Workshop of ERNET, 127-136, Darmstradt, Germany.
11. Holmberg, R. and Khatib, O. 1999. Development of a holonomic mobile robot for mobile manipulation tasks. Proc. Int Conf on Field and Service Robotics, 268-273, Pittsburgh, Pennsylvania.
12. Wada, M. and Mori, S. 1996. Modeling and control of a new type of omni-directional holonomic vehicle. Proc. IEEE Int Conf on Robotics and Automation, 265-270, Minneapolis, Minnesota.
13. Fisette, P., Ferrière, L., Raucent B. and Vaneghem, B. 2000. A multibody approach for modelling universal wheels of mobile robots. Mechanism and Machine Theory, 35:329-351.
14. Byun, K.S., Kim, S.J. and Song, J.B. 2001. Design of continuous alternate wheels for omni-directional mobile robots. Proc. IEEE Int Conf on Robotics and Automation, 767-772, Seoul, South Korea.
15. Saha, S.K., Angeles, J. and Darcovich, J. 1995. The design of kinematically isotropic rolling robots with omni-directional wheels. Mechanism and Machine Theory, 30(8):1127-1137.
16. Muir, P.F. and Neuman, C.P. 1987. Kinematic modeling of wheeled mobile robots. J. Robotic Systems, 4(2):281-340.
17. Ostrovskaya, S. 2001. Dynamics of Quasiholonomic and Nonholonomic Reconfigurable Rolling Robots. Ph.D. thess, McGill University, Montreal, Canada.
18. Freudenstein, F. 1962. On the variety of motions generated by mechanisms. ASME J. of Engineering for Industry, 84:156-160.
19. Loh, W.K. 2002. Development of an Omni-directional Wheeled Mobile Robot. Final Year Project Report, School of Mechanical and Production Engineering, Nanyang Technological University, Singapore.
20. Leow, Y.P., Low, K.H. and Loh, W.K. 2002. Kinematic Modelling and Analysis of Mobile Robots with Omni-Directional Wheels Accepted for presentation at the Seventh International Conference on Control, Automation, Robotics and Vision, Singapore.