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Dynamic Control Model of a Cobot with Three Omni-Wheels
University of Skövde.ORCID iD: 0000-0001-8679-8049
2010 (English)In: Robotics and Computer-Integrated Manufacturing, ISSN 0736-5845, E-ISSN 1879-2537, Vol. 26, no 6, p. 558-563Article in journal (Refereed) Published
Abstract [en]

In this paper, a new collaborative robot with omni-wheels has been proposed and its dynamic control has been developed and validated. Collaborative robots (Cobots) have been introduced to guide and assist human operators to move heavy objects in a given trajectory. Most of the existing cobots use steering wheels: typical drawbacks of using steering wheels include the difficulties to (i) follow a trajectory with a curvature larger than that of the base platform, (ii) mount encoders on steering wheels due to self-spinning of the wheels, and (iii) quarantine dynamic control performance since it is purely kinematic control. The new collaborative robot is proposed to overcome the above-mentioned shortcomings. The methodologies for its dynamic control are focused and the simulation has been conducted to validate the control performance of the system.

Place, publisher, year, edition, pages
Elsevier, 2010. Vol. 26, no 6, p. 558-563
Keywords [en]
Collaborative robot; Dynamic control; Kinematics; Mobile robot; Omni-wheels; Path planning
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-205742DOI: 10.1016/j.rcim.2010.06.022ISI: 000284663300004Scopus ID: 2-s2.0-78049290797OAI: oai:DiVA.org:kth-205742DiVA, id: diva2:1090282
Note

QC 20170426

Available from: 2017-04-24 Created: 2017-04-24 Last updated: 2017-05-03Bibliographically approved

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Wang, Lihui

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