publication . Conference object . 2004

Three omni-directional wheels control on a mobile robot

A.Fernando Ribeiro;
Open Access English
  • Published: 01 Sep 2004
  • Publisher: IEEE
  • Country: Brazil
Abstract
Traditional two wheels differential drive normally used on mobile robots have manoeuvrability limitations and take time to sort out. Most teams use two driving wheels (with one or two cast wheels), four driving wheels and even three driving wheels. A three wheel drive with omni-directional wheel has been tried with success, and was implemented on fast moving autonomous mobile robots. This paper deals with the mathematical kinematics description of such mobile platform, it describes the advantages and also the type of control used.
Subjects
ACM Computing Classification System: GeneralLiterature_MISCELLANEOUSInformationSystems_INFORMATIONINTERFACESANDPRESENTATION(e.g.,HCI)ComputingMethodologies_COMPUTERGRAPHICSInformationSystems_MODELSANDPRINCIPLESComputingMethodologies_ARTIFICIALINTELLIGENCE
free text keywords: Omni-directional wheels, Motor control
Related Organizations
Funded by
FCT| POSI/ROBO/43892/2002
Project
POSI/ROBO/43892/2002
Development of Robotic Football Team for participation in the RoboCup (Middle Size League)
  • Funder: Fundação para a Ciência e a Tecnologia, I.P. (FCT)
  • Project Code: 43892
  • Funding stream: Orçamento de Funcionamento/POSC

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publication . Conference object . 2004

Three omni-directional wheels control on a mobile robot

A.Fernando Ribeiro;