Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : March 14, 2016 - March 15, 2016
Recently, the robots which work in a hospital and factory have developed. The robot is expected to omni-directional motion to move in limited space. For a Mecanum wheels to be used in the wheels of the omni-directional mobile robot has a complex structure, depending on the situation of the road surface lose stability, movement is difficult. Also, due to the movement on the assumption of slip control becomes to be difficult with slippery road surface. In this study, the development of the omni-directional whole direction mobile robot equipped with a Mecanum wheels. And in order to improve the motion of the efficiency, it performs a slip correction and disturbance observer, to verify the running performance in the actual road surface.
