H. Asama, Masatoshi Sato, L. Bogoni, H. Kaetsu, A. Matsumoto, I. Endo
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Development of an omni-directional mobile robot with 3 DOF decoupling drive mechanism
A new driving mechanism for holonomic omnidirectional mobile robots is designed, which enables 3 DOF motion control by three correspondent actuators in a decoupled manner with no redundancy. A prototype of the omnidirectional mobile robot with the driving mechanism is developed including a parallel link suspension mechanism. The kinematics of the omnidirectional mobile robot is also analyzed, and simulation for velocity control of the robot is performed by a method for velocity modulation with interpolation to achieve the given target position and velocity.
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