DIFFERENTIAL-DRIVE STEERING SYSTEM USING PLANETARY GEARING FOR OMNIDIRECTIONAL MOBILE ROBOT

Hideo Kitagawa, Takashi Ohno, Yuki Ueno, Kazuhiko Terashima

Abstract

Holonomic omnidirectional mobile robot is useful with its high mobility in narrow or crowded area, and omnidirectional robot equipped with normal tires is desired for difference excess, vibration suppression and ride comfort. Caster-drive mechanism using normal tire has been developed to realize a holonomic omnidiredctional robot, however, there remains some problems. This paper presents effective systems to control the caster-drive wheels of omnidirectional mobile robot. Differential-Drive Steering System (DDSS) using planetary gearing is proposed to improve the operation ratio of motors. DDSS generates driving and steering torque effectively from two motors. Simulation results show the proposed system is effective for holonomic omnidirectional mobile robots.

References

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  9. Figure 10: Simulation results (Vx = 0 km/h, Vy = 6 km/h).
  10. Figure 11: Simulation results (Vx = 0 km/h, Vy = - 6 km/h).
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Paper Citation


in Harvard Style

Kitagawa H., Ohno T., Ueno Y. and Terashima K. (2009). DIFFERENTIAL-DRIVE STEERING SYSTEM USING PLANETARY GEARING FOR OMNIDIRECTIONAL MOBILE ROBOT . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 171-176. DOI: 10.5220/0002191101710176


in Bibtex Style

@conference{icinco09,
author={Hideo Kitagawa and Takashi Ohno and Yuki Ueno and Kazuhiko Terashima},
title={DIFFERENTIAL-DRIVE STEERING SYSTEM USING PLANETARY GEARING FOR OMNIDIRECTIONAL MOBILE ROBOT},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={171-176},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002191101710176},
isbn={978-989-674-000-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - DIFFERENTIAL-DRIVE STEERING SYSTEM USING PLANETARY GEARING FOR OMNIDIRECTIONAL MOBILE ROBOT
SN - 978-989-674-000-9
AU - Kitagawa H.
AU - Ohno T.
AU - Ueno Y.
AU - Terashima K.
PY - 2009
SP - 171
EP - 176
DO - 10.5220/0002191101710176