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Communication dans un congrès

Omni-directional robot with spherical orthogonal wheels: concepts and analyses

Abstract : This article addresses the omni directional mechanical architectures problematic for mobile robots using 3 motorized axles with 2 spherical orthogonal wheels. These wheels transmit a power torque according to a direction and are completely free with respect to the two others. They are used on 2 mechanical structures: SM1 and SM2. The complete kinematic study emphasizes the facility of controlling such omni-directional robots, and examines the problems involved in the transition of the wheel-to-floor contact on each axle. From this double study emerges an optimal theoretical architecture, but difficult to realize mechanically. We then present a controller which compensates for the errors related to the simplest mechanical structure; and it is validated on a mobile robot ROMNI using mechanical structure SM1
Type de document :
Communication dans un congrès
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Contributeur : Véronique Maury Connectez-vous pour contacter le contributeur
Soumis le : jeudi 12 janvier 2012 - 15:36:06
Dernière modification le : mercredi 20 octobre 2021 - 01:31:18



Gilles Mourioux, Cyril Novales, Gérard Poisson, Pierre Vieyres. Omni-directional robot with spherical orthogonal wheels: concepts and analyses. Robotics and Automation, 2006. ICRA 2006. IEEE International Conference, May 2006, Orlando-Floride, United States. pp. 3374-3379, ⟨10.1109/ROBOT.2006.1642217⟩. ⟨hal-00659333⟩



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