Omni-directional robot with spherical orthogonal wheels: concepts and analyses

This article addresses the omni directional mechanical architectures problematic for mobile robots using 3 motorized axles with 2 spherical orthogonal wheels. These wheels transmit a power torque according to a direction and are completely free with respect to the two others. They are used on 2 mech...

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Bibliographic Details
Main Authors: Mourioux, G., Novales, C., Poisson, G., Vieyres, P.
Format: Conference Proceeding
Language:English
Subjects:
Axles
Couplings
Engines
Error correction
Kinematics
Mobile robots
Robot control
Robot vision systems
Torque
Wheels
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Summary:This article addresses the omni directional mechanical architectures problematic for mobile robots using 3 motorized axles with 2 spherical orthogonal wheels. These wheels transmit a power torque according to a direction and are completely free with respect to the two others. They are used on 2 mechanical structures: SM1 and SM2. The complete kinematic study emphasizes the facility of controlling such omni-directional robots, and examines the problems involved in the transition of the wheel-to-floor contact on each axle. From this double study emerges an optimal theoretical architecture, but difficult to realize mechanically. We then present a controller which compensates for the errors related to the simplest mechanical structure; and it is validated on a mobile robot ROMNI using mechanical structure SM1
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2006.1642217