Design of the Dual Offset Active Caster Wheel for Holonomic Omni-Directional Mobile Robots

Chung, Woojin; Moon, Chang Bae; Jung, Changbae; Jin, Jiyong

doi:10.5772/10485

Cited by 24 publications

(9 citation statements)

References 8 publications

(9 reference statements)

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“…From this point of view, such specialized mechanisms suitable for constructing an omnidirectional mobile robot are summarized as following: 1. Steered wheel mechanism (Chung, et al, 2010), ( Wada, et al , 2000).. (Song & Byun, 2004). 3.…”

Section: Introductionmentioning

confidence: 99%

Design and Prototyping of Autonomous Ball Wheel Mobile Robots

Ghariblu¹,

Moharrami²,

Ghalamchi³

2011

Mobile Robots - Current Trends

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Section: Introductionmentioning

confidence: 99%

Design and Prototyping of Autonomous Ball Wheel Mobile Robots

Ghariblu¹,

Moharrami²,

Ghalamchi³

2011

Mobile Robots - Current Trends

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“…PSO was motivated by the social conduct of feathered creatures and fish. Molecule Swarm Optimization (PSO) was created by Eberhart and Kennedy [15][16][17][18][19][20], propelled by social conduct of winged animal running or fish tutoring. Numerous past specialists have been utilized this calculation to comprehend way anticipating a portable robot.…”

Section: Introductionmentioning

confidence: 99%

Expert system for Robotic Path Planning

Madlol¹,

Abdulsadda²,

Bakry³

2020

IJEAT

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Abstract: Robotic planning to find the target our goal point/s is most important subject with the minimum distance and the fastest speed with obstacle avoidance expert system has been proposed. In this paper we try to compare and consider different scenario by taking two or more moving robot figure out the short path from the initial and the final point automatically through the map of many regular and irregular obstacles. Firstly, the adaptive fuzzy expert system is present where the fuzzy rule has been adaptive recursively through the robot moving, and then the potential field algorithm has been compared with the adaptive fuzzy system, the results demonstrated that the adaptive fuzzy is faster than the potential field but the accuracy moving of the potential field robotic path planning is much better. All the algorithms were failed when two robots moving from two different initial points to one final target point the why we have proposed particle swarm optimization (PSO) algorithm to solve such problem.

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“…The coordination controls and dynamic control methods were developed on the identical active-caster design in [9] and [10]. A variation of the active-caster is found in [11] which proposed a twin-caster configuration. However all of these robots involves the redundant problem mentioned above.…”

Section: Introductionmentioning

confidence: 99%

A new active-caster drive system with a dual-ball transmission for omnidirectional mobile robots

Wada

Inoue

Hirama

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper presents a new active-caster drive system for omnidirectional mobile robots. The active-caster presents omnidirectional motion on the ground with providing an active traction force in an arbitrary direction by controlling a 2DOF planar velocity vector created by independent two motors. The proposed mechanism includes a dual-ball transmission to transmit traction power to rotate and orient a drive wheel with distributing velocity components to wheel and steering axes in an appropriate ratio. One of the significant features of the proposed mechanism is that a velocity ratio between wheel rotation and steering rotation is determined mechanically by the dual-ball transmission, where the ratio is a function of an orientation of a wheel, therefore a sensor for measuring a wheel orientation and calculations for velocity decomposition are totally removed from a conventional control system.Addition to the simplicity in controlling a single wheel, the proposed mechanism allows some actuators to drive multiple axes simultaneously on vehicle designs. This feature gives a variety of vehicle designs with no redundant actuation, such as a three-wheeled and three-motor vehicle, two-wheeled and three-motor vehicle, etc.A kinematic model of the proposed active-caster mechanism with a dual-ball transmission is analyzed and a mechanical condition for realizing caster motion is derived. Based on the kinematic model and the mechanical condition, computer simulations of the mechanism are performed. A prototype mechanism of the active-caster is designed and built to verify the availability of the proposed system. In the experiments, the active-caster prototype shows successful caster motions which includes complicated velocity distribution by the mechanism with no computer based coordination.

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Design of the Dual Offset Active Caster Wheel for Holonomic Omni-Directional Mobile Robots

Cited by 24 publications

References 8 publications

Design and Prototyping of Autonomous Ball Wheel Mobile Robots

Design and Prototyping of Autonomous Ball Wheel Mobile Robots

Expert system for Robotic Path Planning

A new active-caster drive system with a dual-ball transmission for omnidirectional mobile robots

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