Omnidirectional Robot Undercarriages with Standard Wheels - A Survey

Jacobs, Theo

doi:10.1109/m2vip.2018.8600822

Cited by 6 publications

(3 citation statements)

References 26 publications

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“…Many of the current omnidirectional mobile robots are based on Swedish or omni wheels; see the recent reviews of [3,4]. These wheels, however, are not as robust as standard wheels in their application on rough terrains and outdoor applications; see, for instance [5], in which Swedish wheels were modified to overcome some of their limitations.…”

Section: Introductionmentioning

confidence: 99%

Driving Strategies for Omnidirectional Mobile Robots with Offset Differential Wheels

Badia Torres,

Perez Gracia,

Domenech-Mestres

2024

Robotics

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In this work, we present an analysis of, as well as driving strategies and design considerations for, a type of omnidirectional mobile robot: the offset-differential robot. This system presents omnidirectionality while using any type of standard wheel, allowing for applications in uneven and rough terrains, as well as cluttered environments. The known fact that these robots, as well as simple differential robots, have an unstable driving zone, has mostly been dealt with by designing driving strategies in the stable zone of internal dynamics. However, driving in the unstable zone may be advantageous when dealing with rough and uneven terrains. This work is based on the full kinematic and dynamic analysis of a robot, including its passive elements, to explain the unexpected behaviors that appear during its motion due to instability. Precise torque calculations taking into account the configuration of the passive elements were performed for better torque control, and design recommendations are included. The stable and unstable behaviors were characterized, and driving strategies were described in order to achieve the desired performance regarding precise positioning and speed. The model and driving strategies were validated through simulations and experimental testing. This work lays the foundation for the design of better control strategies for offset-differential robots.

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Section: Introductionmentioning

confidence: 99%

Driving Strategies for Omnidirectional Mobile Robots with Offset Differential Wheels

Badia Torres,

Perez Gracia,

Domenech-Mestres

2024

Robotics

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“…However, in-house transport is often performed on paved roads, so wheeled robots with high motion efficiency are often employed. In particular, omnidirectional wheeled robots are often preferred for this due to their high maneuverability [7], with various mechanisms already proposed in literature [8].…”

Section: Introductionmentioning

confidence: 99%

Wheel Arrangement of Four Omni Wheel Mobile Robot for Compactness

2022

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Compact omnidirectional mobile robots are required to automate transportation of raw materials, products, etc. within an industrial plant. This paper focuses on omni wheel robots with low vibration and wheel arrangements that contribute to compactness. Due to its wheels’ configuration, our proposed compact robot may have different sensitivity to noise (controller) and different performance (errors) when following a predetermined path, compared to conventional ones. Using a simple DC motor, a robot with the proposed arrangement and a conventional robot run along a predetermined path. A linear–quadratic regulator that is processed lightly is used to control the robots for practicality. As a result, the robot’s trajectory in the proposed arrangement showed a distortion different from that of the conventional type. The distortion of the trajectory was attributed to the inability of the DC motor to rotate stably at low speed. The different distortions exhibited suggest that the wheel arrangement changes the effect of imperfect control on the robot’s motion. In addition, the proposed arrangement showed the possibility of being suitable for a transport robot because the wheels are placed in the four corners of the robot, facing forward, backward, left, and right.

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“…On relatively flat ground, the way of wheeled movement is quite superior. It has the characteristics of flexibility and efficiency, and it is widely used in manufacturing, service, and other fields [1].…”

Section: Introductionmentioning

confidence: 99%

Application of Fuzzy PID in Wheeled Robot

Luo

Zhang²

2022

J. Phys.: Conf. Ser.

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At this stage, wheeled robots are widely used in various fields. Usually, the gimbal is mounted above the wheeled robot as a platform for carrying other functional modules, and for the normal working environment of the module. We will use the traditional PID control algorithm to keep the gimbal relatively stable. However, in the face of complex terrain, the gimbal will be subject to huge disturbances from the chassis. The traditional PID algorithm has low robustness and cannot cope with this situation. In this paper, a fuzzy controller for the self-stabilization of the gimbal is added to the wheeled robot designed in the RoboMaster competition to maintain the stability of the gimbal under the condition of an uneven road to ensure that the gimbal has strong robustness. This robot uses STM32F427IH, the main control chip, and JetsonNanoA02, the host computer, with the FreeRTOS real-time operating system to complete the motion control of the robot.

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Omnidirectional Robot Undercarriages with Standard Wheels - A Survey

Cited by 6 publications

References 26 publications

Driving Strategies for Omnidirectional Mobile Robots with Offset Differential Wheels

Driving Strategies for Omnidirectional Mobile Robots with Offset Differential Wheels

Wheel Arrangement of Four Omni Wheel Mobile Robot for Compactness

Application of Fuzzy PID in Wheeled Robot

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