現場実装を指向した全輪駆動全輪操舵方式の小型全方位運搬ロボットの試作

抄録

This paper describes mechanism and control of a semi-automated material handling robot that combines flexibility of operation by a person and convenience of automation technology, to automate process of positioning when catching a raw fabric roll in material handling cart. This robot has omnidirectional drive mechanism, kinematics based control system, automatic delivery mechanism, and system for detect and approach a positioning target. As a result, the robot performed automatic line following motion using the photosensor matrix and four-wheel drive and steering omnidirectional mechanism.