능동 분할 오프셋 캐스터 기반 전방향 차량의 설계 및 제어 Design and Control of the Active Split Offset Caster based Omni-directional Vehicle

This research would investigate deeply the operation of an omni-directional mobile robot that is able to move with high acceleration. For the high acceleration performance, the vehicle utilizes the structure of Active Split Offset Casters (ASOCs). This paper is mainly focused on inverse kinematics of the structure, hardware design to secure durability and preserve the wheels’ contact to the ground during high acceleration, and localization for the real time position control.
Publisher
한국로봇학회
Issue Date
2013-06
Language
ENG
Citation

로봇학회 논문지, v.8, no.2, pp.75 - 81

ISSN
1975-6291
DOI
10.7746/jkros.2013.8.2.075
URI
http://hdl.handle.net/10203/201192
Appears in Collection
ME-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.
  • Hit : 145
  • Download : 0
  • Cited 0 times in thomson ci

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0