自主全轮式移动机器人

2016 2nd International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM) Pub Date : 2016-05-19 DOI:10.1109/ICIEAM.2016.7910957

K. Ignatiev, M. M. Kopichev, A. Putov

{"title":"自主全轮式移动机器人","authors":"K. Ignatiev, M. M. Kopichev, A. Putov","doi":"10.1109/ICIEAM.2016.7910957","DOIUrl":null,"url":null,"abstract":"The paper considers designing two mobile robots equipped with omni-wheels and autonomous control systems. One of the robots has two different control modes: either with camera-based tracking system or via operator's remote control. When an operator controls the robot's motion, the human machine interface provides forwarding camera images to the operator control station. The other robot is an electromechanical robot based on the Nokia PUMA 560 industrial manipulator. The manipulator is mounted on the omni-motor-wheel base. Omni-wheels are designed based on the DC motor-wheels. The PUMA control system provides independent manipulator motion of every degree of freedom and every of three omni-motor-wheels of the robot. For spatial orientation and pattern recognition, PUMA was equipped with the single board computer for sensors' signal acquisition and processing.","PeriodicalId":130940,"journal":{"name":"2016 2nd International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)","volume":"88 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"Autonomous omni-wheeled mobile robots\",\"authors\":\"K. Ignatiev, M. M. Kopichev, A. Putov\",\"doi\":\"10.1109/ICIEAM.2016.7910957\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The paper considers designing two mobile robots equipped with omni-wheels and autonomous control systems. One of the robots has two different control modes: either with camera-based tracking system or via operator's remote control. When an operator controls the robot's motion, the human machine interface provides forwarding camera images to the operator control station. The other robot is an electromechanical robot based on the Nokia PUMA 560 industrial manipulator. The manipulator is mounted on the omni-motor-wheel base. Omni-wheels are designed based on the DC motor-wheels. The PUMA control system provides independent manipulator motion of every degree of freedom and every of three omni-motor-wheels of the robot. For spatial orientation and pattern recognition, PUMA was equipped with the single board computer for sensors' signal acquisition and processing.\",\"PeriodicalId\":130940,\"journal\":{\"name\":\"2016 2nd International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)\",\"volume\":\"88 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-05-19\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 2nd International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICIEAM.2016.7910957\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 2nd International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICIEAM.2016.7910957","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 9

摘要

本文考虑设计两种配备全轮和自主控制系统的移动机器人。其中一个机器人有两种不同的控制模式:要么是基于摄像头的跟踪系统，要么是通过操作员的远程控制。当操作员控制机器人的运动时，人机界面向操作员控制站转发摄像机图像。另一个机器人是基于诺基亚PUMA 560工业机械手的机电机器人。机械手安装在全电机轮座上。全轮是在直流电机轮的基础上设计的。PUMA控制系统提供了每个自由度的独立机械手运动和机器人的三个全电机车轮中的每一个。在空间定位和模式识别方面，PUMA配备单板计算机，对传感器信号进行采集和处理。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Autonomous omni-wheeled mobile robots

The paper considers designing two mobile robots equipped with omni-wheels and autonomous control systems. One of the robots has two different control modes: either with camera-based tracking system or via operator's remote control. When an operator controls the robot's motion, the human machine interface provides forwarding camera images to the operator control station. The other robot is an electromechanical robot based on the Nokia PUMA 560 industrial manipulator. The manipulator is mounted on the omni-motor-wheel base. Omni-wheels are designed based on the DC motor-wheels. The PUMA control system provides independent manipulator motion of every degree of freedom and every of three omni-motor-wheels of the robot. For spatial orientation and pattern recognition, PUMA was equipped with the single board computer for sensors' signal acquisition and processing.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2016 2nd International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

自引率

0.00%

发文量