Omnidirectional holonomic platforms
Conference
·
OSTI ID:10157906
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.
- Research Organization:
- Oak Ridge National Lab., TN (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 10157906
- Report Number(s):
- CONF-9404137-2; ON: DE94013252; TRN: 94:012159
- 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
Similar Records
A new family of omnidirectional and holonomic wheeled platforms for mobile robots
Omnidirectional holonomic platforms
Design of an omnidirectional and holonomic wheeled platform prototype
Journal Article
·
Mon Aug 01 00:00:00 EDT 1994
· IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States)
·
OSTI ID:10157906
Omnidirectional holonomic platforms
Conference
·
Sat Dec 31 00:00:00 EST 1994
·
OSTI ID:10157906
Design of an omnidirectional and holonomic wheeled platform prototype
Conference
·
Tue Jan 01 00:00:00 EST 1991
·
OSTI ID:10157906