Control of omni-directional mobile platform with four driving wheels using torque redundancy

— An omni-directional moving platform with four wheels is developed and its controller is designed for tracking desired trajectories. The four wheels of the platform are torque controlled by DC servo motors independently. The generalized coordinate of the platform is three, therefore the system has one torque redundancy and one odmetry sensor redundancy which can be used for improving the control performance of the moving platform. First, ways of exploiting odmetry sensor redundancy is discussed. Then a criterion for exploiting the torque redundancy is proposed to make larger the margin of driving force, and fundamental simulations and experiments are done to show the control characteristics of the developed mobile platform. Key words: mobile manipulator, omni-directional platform, torque control, redundancy

• Type: Conference
• Year: 2008
• Where: IROS
• Authors: Shunsuke Amagai, Taichi Tsuji, Jabes Samuel, Hisashi Osumi
• Keywords: IROS 2008, Moving Platform, Odmetry Sensor Redundancy, Robotics, Torque Redundancy