複数の操舵・駆動輪を備えた全方位移動ロボットの機構と制御に関する研究

抄録

In automated factories, there are tasks that has been postponed for future mechanization, for example ”backyard tasks” and so on. Against this background, an omnidirectional mobile robot was prototyped. The robot is planned to be combined with a dual-arm robot to realize dexterous mobile manipulations. This paper focuses attention on the creation of a single steer-drive wheel unit. The unit mechanism is designed and created to be as simple as possible to be able to reduce the number and the weight of the transmission mechanism parts. In addition, two types of omnidirectional mobile robot are prototyped by combining multiple wheel units.