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Design and Control of Mobile Robots with Two and Four Independent Rotatable Power Wheels

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Part of the Lecture Notes in Mechanical Engineering book series (LNME)

Abstract

This paper analyses two kinds of models for Mobile robots having two and four independently rotatable power wheel configurations, respectively. Both the models were analysed for performance based on mechanical design and kinematic control aspects. A scissors mechanism was employed on the robots to equip them with weight lifting capabilities which are controlled by a linear actuator. The robot can be used for various purposes including inventory management, shop-floor assistance and warehouse automation. In the end, a simple computed velocity control kinematic model was developed for both the models and results were compared.

Keywords

  • Mobile robots
  • Wheel drive design
  • Warehouse automation
  • Scissors mechanism
  • Holonomic/omnidirectional
  • Inverse kinematics
  • Kinematic control
  • Feedback control
  • Computed velocity control

The work has been supported by ‘Ministry of Electronics and Information Technology, Government of India’.

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  • DOI: 10.1007/978-981-16-1769-0_14
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Reference

  1. Mishra, S., Sharma, M., Mohan, S.: Behavioural fault-tolerant-control of an omni-directional mobile robot with four-mecanum wheels. Defence Sci. J. 69(4), 353–360 (2019). https://doi.org/10.14429/dsj.69.13607

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Correspondence to Divyansh Khare .

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Khare, D., Prashant, K.V., Mohan, S. (2021). Design and Control of Mobile Robots with Two and Four Independent Rotatable Power Wheels. In: Rao, Y.V.D., Amarnath, C., Regalla, S.P., Javed, A., Singh, K.K. (eds) Advances in Industrial Machines and Mechanisms. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-16-1769-0_14

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  • DOI: https://doi.org/10.1007/978-981-16-1769-0_14

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-16-1768-3

  • Online ISBN: 978-981-16-1769-0

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