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Design of a Cobot with Three Omni-Wheels
University of Skövde.ORCID iD: 0000-0001-8679-8049
2009 (English)Conference paper, Published paper (Refereed)
Abstract [en]

Collaborative robots (Cobots) have been proposed to guide and assist human operators to move heavy objects in a given trajectory. Most of the existing cobots us steering wheels; typical drawbacks of using steering wheels include (i) the difficulty to follow a trajectory with a curvature larger than that of the base platform, (ii) the difficulty to mount encoders on steering wheels due to self-spinning of the wheels, and (iii) the difficulty to quarantine dynamic control performance since it is purely kinematic control. In this paper, a new cobot with the omni-wheels has been proposed, and its design model has been developed, and a simulation has been conducted to validate this control performance.

Place, publisher, year, edition, pages
2009. p. 360-367
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-205990OAI: oai:DiVA.org:kth-205990DiVA, id: diva2:1090953
Conference
Proceedings of the 19th International Conference on Flexible Automation and Intelligent Manufacturing,
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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