Design and Control of Two Degree of Freedom Powered Caster Wheels Based Omni-Directional Robot
文献类型：会议论文
| 作者 | Zheng, Tianjiang; Zhang, Jie; Wang, Weijun; Song, Sunhao; Li, Junjie; Liu, Qiang; Chen, Guodong; Yang, Guilin; Chen, Chin-Yin; Zhang, Chi |
| 出版日期 | 2018 |
| 会议日期 | SEP 21-23, 2018 |
| 卷号 | 923 |
| DOI | 10.1007/978-981-13-2396-6_51 |
| 英文摘要 | Omni-directional robot has the ability of 0-360 degrees motions are received much attention in recent years. They have locomotive advantages and are widely deployed in larger range of application fields especially in constrained narrow space. This paper introduce a novel omni-directional robot with four powered caster wheels, each caster wheel has two degree of freedom (DOF) and made by two outer rotor motors connected mechanically. The kinematics of the system are analyzed, the prototype has been developed. The developed omni-directional robot is able to realize the moving motions along x and y axis and rotate about z-axis. All of the software are implemented on Robot Operation Systems (ROS) and the velocity trajectory planner is employed and embedded in the software. The squared position curve is given and tested by using lase tracker, the result is analyzed, and it shown that the following error of the system is about 2.5 cm while the width of the square is 70 cm. |
| 会议录出版者 | Communications in Computer and Information Science |
| 学科主题 | Computer Science ; Engineering |
| ISSN号 | 1865-0929 |
| ISBN号 | 978-981-13-2396-6; 978-981-13-2395-9 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23324]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Zheng, Tianjiang,Zhang, Jie,Wang, Weijun,et al. Design and Control of Two Degree of Freedom Powered Caster Wheels Based Omni-Directional Robot[C]. 见:. SEP 21-23, 2018. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。