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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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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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creator	Mourioux, G. Novales, C. Poisson, G. Vieyres, P.
description	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
doi_str_mv	10.1109/ROBOT.2006.1642217
format	conference_proceeding
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source	IEEE Electronic Library (IEL) Conference Proceedings
subjects	Axles Couplings Engines Error correction Kinematics Mobile robots Robot control Robot vision systems Torque Wheels
title	Omni-directional robot with spherical orthogonal wheels: concepts and analyses
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