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Travel Control of a Spherical Wheeled Robot (Ball-Bot) with Mecanum Wheel

메카넘휠을 적용한 구형바퀴로봇(볼-봇)의 주행제어

  • Seo, Beomseok (Department of Electronic Engineering, Pusan National University) ;
  • Park, Jong-Eun (Department of Electronic Engineering, Pusan National University) ;
  • Park, Jee-Seol (Department of Electronic Engineering, Pusan National University) ;
  • Lee, Jangmyung (Department of Electronic Engineering, Pusan National University)
  • 서범석 (부산대학교 전자전기공학과) ;
  • 박종은 (부산대학교 전자전기공학과) ;
  • 박지설 (부산대학교 전자전기공학과) ;
  • 이장명 (부산대학교 전자전기공학과)
  • Received : 2013.10.28
  • Accepted : 2014.05.01
  • Published : 2014.07.01

Abstract

In this paper, the travel control of the spherical wheeled robot with a mecanum wheel is impelemented. Four typical wheels or three omni wheels are used to consist of the ball-bot. the slip is occured when the typical wheels is used to the ball-bot. In order to reduce these slip, the spherical wheeled robot with macanum wheels is proposed. Through some experiments, we find that the proposed spherical wheeled robot with a mecanum wheel is superior to the conventional spherical wheeled robot with typical wheels.

Acknowledgement

Supported by : 부산대학교

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