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Design of a Cobot with Three Omni-Wheels
Queen's University Belfast.
Högskolan i Skövde, Forskningscentrum för Virtuella system. Högskolan i Skövde, Institutionen för teknik och samhälle.
2009 (engelsk)Inngår i: Proceedings of the 19th International Conference on Flexible Automation and Intelligent Manufacturing, FAIM 2009 , 2009, s. 186-193Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

Collaborative robots (Cobots) have been proposed to guide and assist human operators to move heavy objects in a given trajectory. Most of the existing cobots us steering wheels; typical drawbacks of using steering wheels include (i) the difficulty to follow a trajectory with a curvature larger than that of the base platform, (ii) the difficulty to mount encoders on steering wheels due to self-spinning of the wheels, and (iii) the difficulty to quarantine dynamic control performance since it is purely kinematic control. In this paper, a new cobot with the omni-wheels has been proposed, and its design model has been developed, and a simulation has been conducted to validate this control performance.

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FAIM 2009 , 2009. s. 186-193
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URN: urn:nbn:se:his:diva-3422ISBN: 978-0-9562303-3-1 ISBN: 9781615676279 OAI: oai:DiVA.org:his-3422DiVA, id: diva2:272153
Konferanse
19th International Conference on Flexible Automation and Intelligent Manufacturing 2009 (FAIM 2009), 6-8 July 2009, Middlesbrough, United Kingdom.
Tilgjengelig fra: 2009-10-14 Laget: 2009-10-14 Sist oppdatert: 2017-11-27

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