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Feasibility Study on a Collaborative Robot with Omni-wheels
Indiana University Purdue University Fort Wayne.
University of Skövde, The Virtual Systems Research Centre. University of Skövde, School of Technology and Society.
2010 (English)In: Proceedings of the 12th Mechatronics Forum Biennial International Conference / [ed] Thomas Kennel, Zürich: IWF Institute of Machine Tools and Manufacturing , 2010, 114-120 p.Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
Zürich: IWF Institute of Machine Tools and Manufacturing , 2010. 114-120 p.
National Category
Engineering and Technology
Research subject
Technology
Identifiers
URN: urn:nbn:se:his:diva-4533ISBN: 978-3-033-02507-3 OAI: oai:DiVA.org:his-4533DiVA: diva2:383272
Conference
The 12th Mechatronics Forum Biennial International Conference, Zürich, June 28-30, 2010
Available from: 2011-01-04 Created: 2011-01-04 Last updated: 2013-09-06Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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Language
  • de-DE
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Output format
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