Abstract
Omnidirectional planar robots are common these days due to their high mobility, for example in human–robot interactions. The motion of such mechanisms is based on specially designed wheels, which may vary when different terrains are considered. The usage of actuated caster wheels (ACW) may enable the usage of regular wheels. Yet, it is known that an ACW robot with three actuated wheels needs to overcome kinematic singularities. This paper introduces the kinematic model for an ACW omni robot. We present a novel method to overcome the kinematic singularities of the mechanism’s Jacobian matrix by performing the time propagation in the mechanism’s configuration space. We show how the implementation of this method enables the estimation of caster wheels’ swivel angles by tracking the plate’s velocity. We present the mechanism’s kinematics and trajectory tracking in real-world experimentation using a novel robot design.
Highlights
Omnidirectional mobile robots are capable of traversing in three dimensions from any given configuration without steering ([1,2]), which enables driving through winding paths with small tracking errors
This paper presents an omni robot that uses regular caster wheels with passive swivel joints that may give an advantage in case of unexpected side collision from the side as we will discuss
We tested our kinematic model in simulations
Summary
Omnidirectional mobile robots are capable of traversing in three dimensions from any given configuration without steering ([1,2]), which enables driving through winding paths with small tracking errors. In [18], the authors present an ACW with a ball-roller traction system, with such an operation proposed to be simple to control and fabricate It probably is involved with high levels of skidding at high speeds or high external moments on the wheel’s driving or steering axis. This paper presents an omni robot that uses regular caster wheels with passive swivel joints that may give an advantage in case of unexpected side collision from the side as we will discuss. The platform we shall present in this paper is actuated by only three motors for the advancement of the wheel rather than its orientation This mechanism is involved with singularity, which shall be discussed later on, it has an advantage in the sense of slipping avoidance—its passive swivel axes.
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