The development of driving system with Differential Drive Steering System for omni-directional mobile robot

Holonomic omnidirectional mobile robot is useful with its high mobility in narrow or crowded area, and omnidirectional robot equipped with normal tires is desired to ride across difference in level, 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 and experimental results show the proposed system is effective for holonomic omnidirectional mobile robots.

[1]  Kazuhiko Terashima,et al.  Skill-assist control of omnidirectional wheelchair using human-friendly interface , 2009, 2008 IEEE International Conference on Robotics and Biomimetics.

[2]  H. Harry Asada,et al.  Design of a holonomic omnidirectional vehicle , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[3]  Akira Takagi,et al.  A Mobile Platform with a Dual-wheel Caster-drive Mechanism for Holonomic and Omnidirectional Mobile Robots , 2000 .

[4]  François G. Pin,et al.  A new family of omnidirectional and holonomic wheeled platforms for mobile robots , 1994, IEEE Trans. Robotics Autom..

[5]  Kenjiro Tadakuma,et al.  Development of holonomic omnidirectional Vehicle with “Omni-Ball”: spherical wheels , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[6]  Tatsuo Arai,et al.  The Control and Application of “Omni Directional Vehicle (ODV)” , 1981 .

[7]  Sungbok Kim,et al.  Local and Global Isotropy of Caster Wheeled Omnidirectional Mobile Robot , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[8]  Masayoshi Wada,et al.  Holonomic and omnidirectional vehicle with conventional tires , 1996, Proceedings of IEEE International Conference on Robotics and Automation.