Abstract
Omni-directional robot has the ability of 0–360° motions are received much attention in recent years. They have locomotive advantages and are widely deployed in larger range of application fields especially in constrained narrow space. This paper introduce a novel omni-directional robot with four powered caster wheels, each caster wheel has two degree of freedom (DOF) and made by two outer rotor motors connected mechanically. The kinematics of the system are analyzed, the prototype has been developed. The developed omni-directional robot is able to realize the moving motions along x and y axis and rotate about z-axis. All of the software are implemented on Robot Operation Systems (ROS) and the velocity trajectory planner is employed and embedded in the software. The squared position curve is given and tested by using lase tracker, the result is analyzed, and it shown that the following error of the system is about 2.5 cm while the width of the square is 70 cm.
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Acknowledgements
Zhejiang Key Laboratory of Robotics and Intelligent Manufacturing Equipment Technology as well as NSFC-Zhejiang Joint Found For the Integration and information (U1509202), Ningbo International Cooperation Project (2017D10023), Ningbo Industrial Major Project (2017B10012) and Major Project and Key S&T Program of Ningbo (2016B10019).
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Zheng, T. et al. (2018). Design and Control of Two Degree of Freedom Powered Caster Wheels Based Omni-Directional Robot. In: Wang, S., Price, M., Lim, M., Jin, Y., Luo, Y., Chen, R. (eds) Recent Advances in Intelligent Manufacturing . ICSEE IMIOT 2018 2018. Communications in Computer and Information Science, vol 923. Springer, Singapore. https://doi.org/10.1007/978-981-13-2396-6_51
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DOI: https://doi.org/10.1007/978-981-13-2396-6_51
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