CVT control of an omnidirectional mobile robot with steerable omnidirectional wheels for energy efficient drive

Kyung Seok Byun, Jae Bok Song

Research output: Contribution to journalConference article

5 Citations (Scopus)

Abstract

In a previous research, a new class of an omnidirectional mobile robot was proposed. Since it has synchronously steerable omnidirectional wheels, it is called an omnidirectional mobile robot with steerable omnidirectional wheels (OMR-SOW). It has 3 DOFs in motion and one DOF in steering. One steering DOF can function as a continuously variable transmission (CVT). CVT of the OMR-SOW increases the range of velocity ratio from the wheel velocities to robot velocity, which may improve performance of a mobile robot. In this paper, kinematics and dynamics of this robot will be analyzed. A control algorithm for CVT mounted on the OMR-SOW, which considers motor efficiency in its operation, is discussed in detail. Various tests have been conducted to demonstrate validity and feasibility of the proposed mechanism and the steering algorithm. Experimental results show the OMR-SOW can be driven more efficiently with the proposed steering algorithm and a CVT mechanism.

Original languageEnglish
Pages (from-to)503-508
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume1
Publication statusPublished - 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: 2003 Sep 142003 Sep 19

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'CVT control of an omnidirectional mobile robot with steerable omnidirectional wheels for energy efficient drive'. Together they form a unique fingerprint.

  • Cite this