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Development of an omni-directional mobile robot with 3 DOFdecoupling drive mechanism
Asama, H.; Sato, M.; Bogoni, L.; Kaetsu, H.; Mitsumoto, A.; Endo, I.
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Volume 2, Issue , 21-27 May 1995 Page(s):1925 - 1930 vol.2
Digital Object Identifier   10.1109/ROBOT.1995.525546
Summary:A new driving mechanism for holonomic omnidirectional mobile robots is designed, which enables 3 DOF motion control by three correspondent actuators in a decoupled manner with no redundancy. A prototype of the omnidirectional mobile robot with the driving mechanism is developed including a parallel link suspension mechanism. The kinematics of the omnidirectional mobile robot is also analyzed, and simulation for velocity control of the robot is performed by a method for velocity modulation with interpolation to achieve the given target position and velocity