User Intention Based Intuitive Mobile Platform Control: Application to a Patient Transfer Robot

Park, Jae-Woo; An, Bohyun; Kwon, Ohwon; Yi, Hak; Kim, Changwon

doi:10.1007/s12541-022-00656-9

Cited by 11 publications

(1 citation statement)

References 17 publications

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“…Due to specific kinematics, those types of wheels can provide high mobility and 3 degrees of freedom (DOF) for robots without steering axles (Typiak et al [1]). Nowadays, they are widely used in mobile industrial robots and robotic platforms (Hryniewicz et al [2], Guo et al [3]) but they also become used in other mobile robots such as obstacle avoiding robots (Huang et al [4]) and medical equipment (Park et al [5], Hsu et al [6]).…”

Section: Introductionmentioning

confidence: 99%

Evaluation of Velocity and Acceleration Effect on Mecanum Wheel Robot Positioning

Bączyk

Wojtowicz

Klekiel

2022

International Journal of Applied Mechanics and Engineering

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In this paper, a Mecanum wheel omnidirectional robotic platform made for taking measurements in harsh and dangerous conditions is introduced. Due to the necessity of highly accurate displacement of the platform for measuring the conditions at the exact measurement point and due to known Mecanum wheel slippage and relatively poor position accuracy, a calibration procedure for minimizing positioning error had to be implemented. For this task, a highly accurate stereographic digital image correlation (DIC) system was used to measure platform displacement. A series of parameters, namely linear maximum velocity and acceleration/deceleration values, were taken into account during the calibration procedure to find the best combination allowing precise movement of the robot. It was found that low acceleration values were the main causes of the robot’s poor positioning accuracy and could cause the robot’s motors to stall. Max speed values proved to have little effect on the robot’s positioning.

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