積載物運搬時における全方位移動口ボットのモデリング

抄録

Omnidirectional Mobile Robots(OMRs) are known to be holonomic systems and most dynamic models of OMRs do not assume the influence of a load that is loaded on OMRs. In this paper, we deal with the problem of modeling and simulation of motion of a OMR where the robot are carrying a load. First of all, the kinematic model and the dynamic model taking account of a load are derived. We assume that a loaded object is fixed on the OMR and both position of center of gravity of robot and object are not coinciding. The simulation shows that the controller which takes account of a load on the OMR can give better tracking performance. This work shows that the importance of influence from a load on the OMR and suggests that tracking performance can be better with the dynamic model which taking account of a load.