操舵付き単輪キャスタ機構を用いた全方向移動プラットフォームの運動学制御

抄録

In recent years, robots that adopt an omnidirectionally mobile mechanism with high mobility are being actively studied for transporting people and goods at a narrow space. Therefore, an omnidirectional vehicle using steered single-wheel caster mechanisms has been developed. It can use general wheels such as rubber tires, so that the vehicle is suitable for transporting people and heavy objects. In addition, since higher mobility must be required for these vehicles when transporting objects in factories, it needs to introduce the position and attitude control of the vehicles. The objective of this study is to control the position and attitude of an omnidirectional mobile platform using steered single wheel caster mechanisms. In this paper, the resolved velocity control based on a kinematic model is described for using it as a proposed control method. Then, the effectiveness of the present control method is verified through some experiments using a real system.