Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지
DOI QR코드

DOI QR Code

Development of Educational Robot Platform Based on Omni-directional Mobile Mechanism

전방향 이동 메커니즘 기반의 교육용 로봇 플랫폼 개발

  • Chu, Baeksuk (Department of Intelligent Mechanical Engineering, Kumoh National Institute of Technology) ;
  • Sung, Young Whee (School of Electronic Engineering, Kumoh National Institute of Technology)
  • 주백석 (금오공과대학교 지능기계공학과) ;
  • 성영휘 (금오공과대학교 전자공학부)
  • Received : 2013.08.26
  • Accepted : 2013.10.25
  • Published : 2013.11.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper an omni-directional mobile robot is suggested for educational robot platform. Comparing to other robots, a mobile robot can be easily designed and manufactured due to its simple geometric structure. Moreover, since it is required to have low DOF motion on planar space, fabrication of control system is also simple. In this research, omni-directional wheels were adopted to remove the non-holonomic characteristic of conventional wheels and facilitate control system design. Firstly, geometric structure of a Mecanum wheel which is a most frequently used omni-directional wheel was demonstrated. Then, the organization of the mobile platform was suggested in aspects of mechanism manufacturing and electronic hardware design. Finally, a methodology of control system development was introduced for educational purpose. Due to an intuitive motion generating ability, simple hardware composition, and convenient control algorithm applicability, the omni-directional mobile robot suggested in this research is expected to be a promising educational platform.

Keywords

References

  1. Muir, P. F. and Neuman, C. P., "Kinematic Modeling for Feedback Control of an Omnidirection Wheeled Mobile Robot," IEEE International Conference on Robotics and Automation, Vol. 4, pp. 1772-1778, 1987.
  2. Doroftei, I., Grosu, V., and Spinu, V., "Omnidirectional Mobile Robot - Design and Implementation," Bioinspiration and Robotics Walking and Climbing Robots, pp. 511-528, 2007.
  3. NTREX Co., "NT-MECANUM-BASIC," http://www.ntrexgo.com/archives/8798(Accessed 24 Oct. 2013)
  4. Rotacaster Wheel Ltd., "Rotacaster multi-directional wheels," http://www.rotacaster.com.au/rotacaster-multi-directional-wheels.html(Accessed 24 Oct. 2013)
  5. Lee, Y.-C., Lee, D. V., Chung, J. H., and Velinsky, S. A., "Control of a Redundant, Reconfigurable Ball Wheel Drive Mechanism for an Omnidirectional Mobile Platform," Robotica, Vol. 25, No. 4, pp. 385-395, 2007. https://doi.org/10.1017/S0263574706003158
  6. Udengaard, M. and Iagnemma, K., "Analysis, Design, and Control of an Omnidirectional Mobile Robot in Rough Terrain," ASME Journal of Mechanical Design, Vol. 131, No. 12, Paper No. 1002-11, 2009.
  7. Chu, B. and Sung, Y. H., "Kinematic Modeling and Position Compensation based on Mecanum Wheeled Omni-directional Mobile Robot," ISGMA 2013, Paper No. A-10-3, 2013.
  8. Shin, D. H. and Lee, I.-T., "Geometry Design of Omni-directional Mecanum Wheel," J. Korean Soc. Precis. Eng., Vol. 15, No. 3, pp. 11-17, 1998.
  9. Doroftei, I. and Stirbu, B., "Design, Modeling and Control of an Omni-directional Mobile Robot," Solid State Phenomena, Vols. 166-167, pp. 173-178, 2010. https://doi.org/10.4028/www.scientific.net/SSP.166-167.173

Cited by

  1. DC Motor Model Parameter Identification and Experimental Adjustment for Motor Controller Design vol.31, pp.12, 2014, https://doi.org/10.7736/KSPE.2014.31.12.1147