Title

Dynamic Control Model of the Cobot with Three Omni-Wheels

Document Type

Article

Publication Date

12-2010

Publication Source

Robotics and Computer-Integrated Manufacturing

Volume

26

Issue

6

Inclusive pages

558-563

DOI

http://dx.doi.org/10.1016/j.rcim.2010.06.022

Publisher

Pergamon Press

Place of Publication

United Kingdom

ISBN/ISSN

0736-5845

Peer Reviewed

yes

Abstract

In this paper, a new collaborative robot with omni-wheels has been proposed and its dynamic control has been developed and validated. Collaborative robots (Cobots) have been introduced to guide and assist human operators to move heavy objects in a given trajectory. Most of the existing cobots use steering wheels; typical drawbacks of using steering wheels include the difficulties to (i) follow a trajectory with a curvature larger than that of the base platform, (ii) mount encoders on steering wheels due to self-spinning of the wheels, and (iii) quarantine dynamic control performance since it is purely kinematic control. The new collaborative robot is proposed to overcome the above-mentioned shortcomings. The methodologies for its dynamic control are focused and the simulation has been conducted to validate the control performance of the system.

Disciplines

Engineering

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