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Feasibility Study on a Collaborative Robot with Omni-Wheels
University of Skövde.ORCID iD: 0000-0001-8679-8049
2010 (English)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
2010. p. 114-120
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-205987OAI: oai:DiVA.org:kth-205987DiVA, id: diva2:1090928
Conference
Proceedings of the 12th Mechatronics Forum Biennial International Conference
Note

QCR 20170427

Available from: 2017-04-25 Created: 2017-04-25 Last updated: 2017-05-04Bibliographically approved

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Wang, Lihui

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