Geometric Design and Motion Control of an Omni-directional Vehicle
Author | : Donald D. Brown |
Publisher | : |
Total Pages | : 136 |
Release | : 1999 |
ISBN-10 | : OCLC:50233135 |
ISBN-13 | : |
Rating | : 4/5 (35 Downloads) |
Book excerpt: Develops and investigates the geometric design and motion control of an omni-directional vehicle with orbiting-rollered wheels. The research involved a geometric analysis of the hub, the roller supports, and the rollers of a wheel assembly. A tread analysis was conducted to understand the path of the contact point. The motion control equations are derived from a force control perspective, in order to present a less complicated approach than that of the velocity control perspective. Considerations are giving to the effect of variations in roller arrangements on the force control equation. A prototype omni-directional vehicle was constructed to verify the design and control algorithms.