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Feasibility Study on a Collaborative Robot with Omni-wheels
Indiana University Purdue University Fort Wayne.
Högskolan i Skövde, Forskningscentrum för Virtuella system. Högskolan i Skövde, Institutionen för teknik och samhälle.
2010 (engelsk)Inngår i: Proceedings of the 12th Mechatronics Forum Biennial International Conference / [ed] Thomas Kennel, Zürich: IWF Institute of Machine Tools and Manufacturing , 2010, s. 114-120Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

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.

sted, utgiver, år, opplag, sider
Zürich: IWF Institute of Machine Tools and Manufacturing , 2010. s. 114-120
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URN: urn:nbn:se:his:diva-4533ISBN: 978-3-033-02507-3 OAI: oai:DiVA.org:his-4533DiVA, id: diva2:383272
Konferanse
The 12th Mechatronics Forum Biennial International Conference, Zürich, June 28-30, 2010
Tilgjengelig fra: 2011-01-04 Laget: 2011-01-04 Sist oppdatert: 2017-11-27bibliografisk kontrollert

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  • de-DE
  • en-GB
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