Work

Trajectory Analysis for a Mobile Robot Adapted Three Omni Rollers in Constant Roller's Speed

Year: 2025

Type: conference-paper

Abstract: The mobile robot is being developed for use in the logistics industry.A mechanism with multiple omni rollers as an omni-directional moving mechanism has been developed and its kinematics analyzed.In this study, the kinematics were verified in a simulation environment as a preliminary step in order to reduce the cost and duration in the verification experiments with good prospects.The trajectory of the robot was derived and analyzed when a constant roller speed was given in the robot kinematics.

Source: Proceedings of International Conference on Artificial Life and Robotics

DOI: 10.5954/icarob.2025.os12-5

Authors: Kenji Kimura, Kazuki Nakayama, Katsuaki Suzuki, Kazuo Ishii

Institutions: National Institute of Technology, Matsue College, Kumamoto Industrial Research Institute, Kyushu Institute of Technology

Language: English

Topic: Control and Dynamics of Mobile Robots

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: bronze

Funder: Japan Society for the Promotion of Science

Award: ローラ駆動される機構の分類と運動学の統合性に関する研究