Kinematic Modeling and Analysis of Omni-Directional Mobile Robots with Redundant Actuation

여유구동을 지니는 전방향 모바일 로봇의 기구학 모델링 및 해석

  • 이병주 (한양대학교 제어계측공학과) ;
  • 김희국 (고려대학교 제어계측학과) ;
  • 양성일 (한양대학교 전자컴퓨터공학부)
  • Published : 2001.09.01

Abstract

Omni-directional mobile robots have been popularly employed in several application areas. However, the kinematics for these systems have not been clearly identified, specially for redundantly actuated case which is common in omni-directional mobile robot such as the Nomadic model. For such mobile robot systems, exploitation of redundant actuation as well as singularity analysis has not been extensively addressed. In light of this fact, this paper introduces two different kinematic approaches for omni-directional mobile robots. Then, a singular-free load distribution scheme for redundantly actuated three-wheeled omni-directional mobile robot is proposed. Through simulation, several advantages of redundantly actuated mobile robot in aspect of singularity avoidance, minimization of torque norm, and exploiting several subtasks are presented.

Keywords

References

  1. G. Campion, G. Bastin, and B. D'Andrea-Novel, 'Structrural properties and classification of kinematic and dynamic models of wheeled mobile robots,' IEEE Trans on Robotics & Automation, vol. 12, no. 1, 1996 https://doi.org/10.1109/70.481750
  2. T. Kajiwara, J. Yamaguchi, Y. Kanayama, S. Yuta, J. lijima, K. lmasato, T. Uehara, 'Development of a mobile robot for security guard,' Proceeding of the 15th Int. Symp. on lnd. Robots. Tokyo Japan, vol. 1, pp. 271-278, Kajiwara
  3. B. Lindauer and J. D. Hill, 'Military robotics: an overview,' Robotics Age, pp. 16-21, Lindauer 1985
  4. H. B. Meieran and F. E. Gelhaus, 'Mobile robots designed for hazardous enviroments,' Robotics Eng, pp. 10-16, 1986
  5. P. F. Muir and C. P. Newman, 'Kinematic modeling of wheeled mobile robots,' J. of Robotics System, vol. 4, no. 2, pp. 281-340, 1987 https://doi.org/10.1002/rob.4620040209
  6. T. Takahashi, E. Nakano, Y. Mori, and K, Takayama, 'A study on the mechanism and control of omni-directional vehicle,' Proc. of RSJ/IEEE Conf. of Intelligent Robots and Systems, pp. 52-59, 1996 https://doi.org/10.1109/IROS.1996.570629
  7. B.-J. Yi and R. A. Freeman, 'Geometic analysis of antagonistic stiffness in redundantly actuated parallel mechanisms,' Special Issues on Parallel Closed-Chain Mechanism, Journal of Robotic systems, vol. 10, pp. 581-603, 1993
  8. Y. Nakamura and M. Ghodoussi, 'Dynamic computation of closed-link robot mechanismswith nonredundant and redundant actuators,' IEEE Trans. on Journal of Robotics and Automation, vol. 5, pp. 294-302, 1989
  9. Nomadic Technology Inc., http://www.robots.com
  10. M. Tarokh, S. McDermott, S. Hayati, and J. Hung, 'Kinematic modeling of a high mobility mars Rover,' Proc. of the IEEE International Conference on Robotics and Automation, pp. 992-998, 1999 https://doi.org/10.1109/ROBOT.1999.772441
  11. M. Mason, D. K. Pai, D. Rus, L. R. Taylor, and M. A. Erdmann, 'A mobile manipulator,' Proc. of the IEEE International Conference on Robotics and Automation, pp. 2322-2327, 1999
  12. R. A. Freeman and D. Tesar, 'Dynamic modeling of serial and parallel mechanisms/robotics systems Part I-Methodology Part II-Applications,' Proc. of 20th ASME Mechanisms Conference, Orlando, FL, pp. 7-27, 1988
  13. V. J. Kumar and J. Gardner, 'Kinematics of redundantly actuated closed chain,' IEEE Trans. on Journal of Robotics and Automation, vol. 6, pp. 269-273, 1990 https://doi.org/10.1109/70.54745