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

抄録

This paper describes prototyping 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 or putting a raw fabric roll in material handling cart. The robot has an omnidirectional mobile capability through a four-wheel drive and steering mechanism by use of a shaft drive transmission system. Semi-automatic delivery system for detect and approach a positioning target will be expected to be implemented in the robot. As a first step, the robot performed automatic line following motion using the photo sensors and the omnidirectional mobility.