Feasibility Study on a Collaborative Robot with Omniwheels
12th Mechatronics Forum Biennial International Conference
Robotics has brought radical changes to maximise the productivity of modern manufacturing. However, a full automation is not always advantageous; sometimes robots and human being must work together in a shared environment to meet specific requirements. A robot used in a collaborative environment is a collaborative robot. In this paper, a collaborative robot to assist human being’s locomotion is considered: omni-wheels are used to increase the flexibility and mobility of the robot and they are controlled dynamically to confine the robot in a prescribed trajectory. The new control algorithms are developed to meet the following challenges (a) unpredictable driving force from a human operator; (b) the rotation of an omni-wheel along two axes but with one independent motion; and (c) the strongly-coupled kinematics and dynamics of the mobile robot.
Zhuming M. Bi and Lihui Wang (2010).
Feasibility Study on a Collaborative Robot with Omniwheels. 114-120.Presented at 12th Mechatronics Forum Biennial International Conference, Zurich, Switzerland.