Abstract
This research aims the development of an Omni-Directional Mobile Robot with three active caster type wheels. In this paper, the mechanism and kinematics of the Omni-Directional Mobile Robot which is designed by author's group, and its vehicle control system are explained. This robot has six motors but the motion degree of freedom (DOF) is three. Therefore, special calculation method for control using Jacobian Matrix is proposed. The experimental results are also shown.
Published Version
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