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TRAVELING CONTROL DEVICE OF A MOBILE ROBOT USING OMNI-WHEELS CAPABLE OF ACCURATELY MOVING A MOBILE ROBOT
TRAVELING CONTROL DEVICE OF A MOBILE ROBOT USING OMNI-WHEELS CAPABLE OF ACCURATELY MOVING A MOBILE ROBOT
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机译：使用能够精确移动机器人的全向轮的移动机器人的行进控制装置
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摘要
PURPOSE: A traveling control device of a mobile robot using omni-wheels and a method thereof are provided to improve posture control capability and guarantee the exact position movement and rotation of an omni wheel using a holonomic property.;CONSTITUTION: A traveling control method of a mobile robot using omni-wheels comprises following steps. The trajectory of a mobile robot using three omni-wheels is planned(S10). The base angle of the mobile robot is set up, the rotation angle of the mobile robot is calculated, and the angular velocity of the mobile robot is controlled(S21,S23,S25). The moving angle of the mobile robot is set up and the moving angle of the mobile robot is calculated(S27,S29). The speed of rotation of each motor corresponding to each omni-wheel is calculated using the controlled angle speed and moving angle(S30).;COPYRIGHT KIPO 2011
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