Design and control of a fully omnidirectional and holonomic wheeled platform for robotic vehicles
For practical robotics application in outdoors or complex environments (e.g. firefighting, warehouse management, floor cleaning, plant surveillance, emergency handling, etc.), mobile robotic platforms are needed for the transport of the manipulative or perceptive robots to various work sites and to assist robot movements at the work site. An ideal platform would be one with full 3-degree-of-freedom (DOF) movement (x, y translation and rotation) to enable tighter navigation and docking, obstacle avoidance, and improved manipulator reach. Three DOFs would also simplify control of the platform and make it more general, thus providing more opportunities for autonomous control. Such a 3-DOF platform based on an orthogonal wheel assembly has been developed at the Oak Ridge National Laboratory and is being used for robotics and artificial intelligence research. This paper presents the mathematical details of the design and control of this type of platform and discusses the experiences and lessons learned with the first prototype. Improvements on the basic wheel assembly as well as optimum platform configurations that are considered for various applications are also discussed.
- Research Organization:
- Oak Ridge National Lab., TN (USA)
- Sponsoring Organization:
- DOE/ER
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 6234105
- Report Number(s):
- CONF-910451-4; ON: DE90017746
- Resource Relation:
- Conference: IEEE robotics and automation conference, Sacramento, CA (USA), 7-12 Apr 1991
- Country of Publication:
- United States
- Language:
- English
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