@inproceedings{35a30072e57f4f29ab074a0b3cad682f,
title = "Design and Control of Two Degree of Freedom Powered Caster Wheels Based Omni-Directional Robot",
abstract = "Omni-directional robot has the ability of 0{\textendash}360° motions are received much attention in recent years. They have locomotive advantages and are widely deployed in larger range of application fields especially in constrained narrow space. This paper introduce a novel omni-directional robot with four powered caster wheels, each caster wheel has two degree of freedom (DOF) and made by two outer rotor motors connected mechanically. The kinematics of the system are analyzed, the prototype has been developed. The developed omni-directional robot is able to realize the moving motions along x and y axis and rotate about z-axis. All of the software are implemented on Robot Operation Systems (ROS) and the velocity trajectory planner is employed and embedded in the software. The squared position curve is given and tested by using lase tracker, the result is analyzed, and it shown that the following error of the system is about 2.5{\^A} cm while the width of the square is 70{\^A} cm.",
keywords = "Control, Direct motor, Kinematics, Omni-directional robot, Powered caster wheels",
author = "Tianjiang Zheng and Jie Zhang and Weijun Wang and Sunhao song and Junjie Li and Qiang Liu and Guodong Chen and Guilin Yang and Chen, \{Chin Yin\} and Chi Zhang",
note = "Publisher Copyright: {\textcopyright} Springer Nature Singapore Pte Ltd 2018.; 1st International Conference on Intelligent Manufacturing and Internet of Things, IMIOT 2018 and International Conference on Intelligent Computing for Sustainable Energy and Environment, ICSEE 2018 ; Conference date: 21-09-2018 Through 23-09-2018",
year = "2018",
doi = "10.1007/978-981-13-2396-6\_51",
language = "英语",
isbn = "9789811323959",
series = "Communications in Computer and Information Science",
publisher = "Springer Verlag",
pages = "548--560",
editor = "Shilong Wang and Lim, \{Ming K.\} and Yuanxin Luo and Rui Chen and Mark Price and Yan Jin",
booktitle = "Recent Advances in Intelligent Manufacturing - First International Conference on Intelligent Manufacturing and Internet of Things and 5th International Conference on Computing for Sustainable Energy and Environment, IMIOT and ICSEE 2018, Proceedings",
address = "德国",
}