Energy efficient drive of an omnidirectional mobile robot with steerable omnidirectional wheels

Jae-Bok Song, Jeong Keun Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

in this paper the second version of the omnidirectional mobile robot with steerable omnidirectional wheels (OMR-SOW) is presented. This robot can operate in either the omnidirectional or the differential drive mode depending on the drive conditions. in the omnidirectional mode, it has 3 DOFs in motion and 1 DOF in steering which can function as a continuously-variable transmission (CVT). The CVT function can be used to enhance energy efficiency of the robot operation by increasing the range of velocity ratio of the robot velocity to wheel velocity. Kinematics and dynamics of this robot are examined. in the proposed steering algorithm, the steering angle is controlled so that motors may operate in the region of high velocity and low torque, thus generating the maximum energy efficiency. Various tests show that motion control of the OMR-SOW works satisfactorily and the proposed steering algorithm for CVT can provide higher energy efficiency than the algorithm using a fixed steering angle. in addition, it is shown that the differential drive mode can give better energy efficiency the omnidirectional drive mode.

Original languageEnglish
Title of host publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
Pages73-78
Number of pages6
Volume16
Publication statusPublished - 2005 Dec 1
Event16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005 - Prague, Czech Republic
Duration: 2005 Jul 32005 Jul 8

Other

Other16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005
CountryCzech Republic
CityPrague
Period05/7/305/7/8

Fingerprint

Mobile robots
Wheels
Energy efficiency
Robots
Motion control
Kinematics
Torque

Keywords

  • Continuously-variable transmission (cvt)
  • Energy efficient drive
  • Omnidirectional mobile robot
  • Steering algorithm

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Song, J-B., & Kim, J. K. (2005). Energy efficient drive of an omnidirectional mobile robot with steerable omnidirectional wheels. In IFAC Proceedings Volumes (IFAC-PapersOnline) (Vol. 16, pp. 73-78)

Energy efficient drive of an omnidirectional mobile robot with steerable omnidirectional wheels. / Song, Jae-Bok; Kim, Jeong Keun.

IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 16 2005. p. 73-78.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Song, J-B & Kim, JK 2005, Energy efficient drive of an omnidirectional mobile robot with steerable omnidirectional wheels. in IFAC Proceedings Volumes (IFAC-PapersOnline). vol. 16, pp. 73-78, 16th Triennial World Congress of International Federation of Automatic Control, IFAC 2005, Prague, Czech Republic, 05/7/3.
Song J-B, Kim JK. Energy efficient drive of an omnidirectional mobile robot with steerable omnidirectional wheels. In IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 16. 2005. p. 73-78
Song, Jae-Bok ; Kim, Jeong Keun. / Energy efficient drive of an omnidirectional mobile robot with steerable omnidirectional wheels. IFAC Proceedings Volumes (IFAC-PapersOnline). Vol. 16 2005. pp. 73-78
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