Omnidirectional holonomic platforms
Abstract
This paper presents the concepts for a new family of wheeled platforms which feature full omnidirectionality with simultaneous and independently controlled rotational and translational motion capabilities. The authors first present the orthogonal-wheels concept and the two major wheel assemblies on which these platforms are based. They then describe how a combination of these assemblies with appropriate control can be used to generate an omnidirectional capability for mobile robot platforms. The design and control of two prototype platforms are then presented and their respective characteristics with respect to rotational and translational motion control are discussed.
- Authors:
- Publication Date:
- Research Org.:
- Oak Ridge National Lab., TN (United States)
- Sponsoring Org.:
- USDOE, Washington, DC (United States)
- OSTI Identifier:
- 10157906
- Report Number(s):
- CONF-9404137-2
ON: DE94013252; TRN: 94:012159
- DOE Contract Number:
- AC05-84OR21400
- Resource Type:
- Conference
- Resource Relation:
- Conference: 12. symposium on energy engineering sciences,Argonne, IL (United States),27-29 Apr 1994; Other Information: PBD: [1994]
- Country of Publication:
- United States
- Language:
- English
- Subject:
- 42 ENGINEERING; REMOTE HANDLING EQUIPMENT; WHEELS; ROBOTS; AUTOMATION; NAVIGATION; 420203; HANDLING EQUIPMENT AND PROCEDURES
Citation Formats
Pin, F G, and Killough, S M. Omnidirectional holonomic platforms. United States: N. p., 1994.
Web.
Pin, F G, & Killough, S M. Omnidirectional holonomic platforms. United States.
Pin, F G, and Killough, S M. 1994.
"Omnidirectional holonomic platforms". United States. https://www.osti.gov/servlets/purl/10157906.
@article{osti_10157906,
title = {Omnidirectional holonomic platforms},
author = {Pin, F G and Killough, S M},
abstractNote = {This paper presents the concepts for a new family of wheeled platforms which feature full omnidirectionality with simultaneous and independently controlled rotational and translational motion capabilities. The authors first present the orthogonal-wheels concept and the two major wheel assemblies on which these platforms are based. They then describe how a combination of these assemblies with appropriate control can be used to generate an omnidirectional capability for mobile robot platforms. The design and control of two prototype platforms are then presented and their respective characteristics with respect to rotational and translational motion control are discussed.},
doi = {},
url = {https://www.osti.gov/biblio/10157906},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Wed Jun 01 00:00:00 EDT 1994},
month = {Wed Jun 01 00:00:00 EDT 1994}
}
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