Kinematics Study on an Omnidirectional Mobile Robot with MY Wheels
YE Changlong1,2, LI Huaiyong1, MA Shugen3, NI Huichao1
1. School of Mechatronics Engineering, Shenyang Aerospace University, Shenyang 110136, China;
2. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
3. Ritsumeikan University, Kusatsu 525-8577, Japan
叶长龙, 李怀勇, 马书根, 倪会超. 具有MY轮的全方位移动机器人运动学研究[J]. 机器人, 2012, 34(2): 144-151.DOI: 10.3724/SP.J.1218.2012.00144.
YE Changlong, LI Huaiyong, MA Shugen, NI Huichao. Kinematics Study on an Omnidirectional Mobile Robot with MY Wheels. ROBOT, 2012, 34(2): 144-151. DOI: 10.3724/SP.J.1218.2012.00144.
The kinematic model of an omnidirectional mobile robot with MY (Mutual YoYo) wheels is built based on the structure of MY wheel to analyze its kinematics characteristics. The performance on vibration, control and errors caused by MY wheels is studied. A control method of both optimizing contact distance and improving rotational speed of MY wheel is proposed to reduce the movement errors. The movement characteristics of tri-wheel platform and four-wheel platform are compared for optimal structure. It can improve the movement stability of the robot by employing sinusoidal control law to control the angular velocity of MY wheel reasonably. Simulation results are provided to demonstrate the performance of the proposed approaches.
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