his.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Design of a Cobot with Three Omni-Wheels
Queen's University Belfast.
University of Skövde, The Virtual Systems Research Centre. University of Skövde, School of Technology and Society.
2009 (English)In: Proceedings of the 19th International Conference on Flexible Automation and Intelligent Manufacturing, FAIM 2009 , 2009, 186-193 p.Conference 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
FAIM 2009 , 2009. 186-193 p.
National Category
Mechanical Engineering
Research subject
Technology
Identifiers
URN: urn:nbn:se:his:diva-3422ISBN: 978-0-9562303-3-1 ISBN: 9781615676279 OAI: oai:DiVA.org:his-3422DiVA: 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: 2013-03-12

Open Access in DiVA

No full text

Other links

External link to full text

Search in DiVA

By author/editor
Wang, Lihui
By organisation
The Virtual Systems Research CentreSchool of Technology and Society
Mechanical Engineering

Search outside of DiVA

GoogleGoogle Scholar

Total: 390 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf