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Dynamic control model of a cobot with three 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: Robotics and Computer-Integrated Manufacturing, ISSN 0736-5845, E-ISSN 1879-2537, Vol. 26, nr 6, s. 558-563Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

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.

sted, utgiver, år, opplag, sider
Elsevier Ltd. , 2010. Vol. 26, nr 6, s. 558-563
Emneord [en]
Collaborative robot, Mobile robot, Omni-wheels, Kinematics, Dynamic control, Path planning
HSV kategori
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URN: urn:nbn:se:his:diva-4586DOI: 10.1016/j.rcim.2010.06.022ISI: 000284663300004Scopus ID: 2-s2.0-78049290797OAI: oai:DiVA.org:his-4586DiVA, id: diva2:389398
Tilgjengelig fra: 2011-01-19 Laget: 2011-01-19 Sist oppdatert: 2017-12-11bibliografisk kontrollert

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