Dynamic Control Model of the Cobot with Three Omni-Wheels
Robotics and Computer-Integrated Manufacturing
Place of Publication
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.
Zhuming M. Bi and L. Wang (2010).
Dynamic Control Model of the Cobot with Three Omni-Wheels. Robotics and Computer-Integrated Manufacturing.26 (6), 558-563. United Kingdom: Pergamon Press.