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Design of a Cobot with Three Omni-Wheels
Queen's University Belfast, UK.
University of Skövde, School of Technology and Society. University of Skövde, The Virtual Systems Research Centre.ORCID iD: 0000-0001-8679-8049
2009 (English)In: Proceedings of the 19th International Conference on Flexible Automation and Intelligent Manufacturing / [ed] Farhad Nabhani, Catherine Frost, Sara Zarei, Munir Ahmad, William. G. Sullivan, Gemini International Ltd , 2009, p. 360-367Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
Gemini International Ltd , 2009. p. 360-367
National Category
Mechanical Engineering
Research subject
Technology
Identifiers
URN: urn:nbn:se:his:diva-3422ISBN: 978-0-9562303-3-1 (print)ISBN: 9781615676279 (print)OAI: oai:DiVA.org:his-3422DiVA, id: diva2:272153
Conference
19th International Conference on Flexible Automation and Intelligent Manufacturing 2009 (FAIM 2009), 6-8 July 2009, Middlesbrough, United Kingdom
Available from: 2009-10-14 Created: 2009-10-14 Last updated: 2019-12-23Bibliographically approved

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Wang, Lihui

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