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Design of wheel modules for non-holonomic, omnidirectional mobile robots in context of the emerging control problems

: Jacobs, Theo

Postprint urn:nbn:de:0011-n-2113980 (474 KByte PDF)
MD5 Fingerprint: 189a346569055338d767b369c4a7a393
Erstellt am: 14.8.2012

Berns, Karsten (Chair); Verl, Alexander (Vice Chair); Hägele, Martin (Session Chair) ; Deutsche Gesellschaft für Robotik; Informationstechnische Gesellschaft im VDE; Fraunhofer-Institut für Produktionstechnik und Automatisierung -IPA-, Stuttgart; TU Kaiserslautern:
ROBOTIK 2012, 7th German Conference on Robotics 2012. Proceedings. CD-ROM : 21-22 May 2012, Munich in Conjunction with Automatica 2012
Berlin: VDE-Verlag, 2012
ISBN: 978-3-8007-3418-4
German Conference on Robotics (ROBOTIK) <7, 2012, Munich>
International Trade Fair on Automation and Mechatronics (AUTOMATICA) <5, 2012, Munich>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IPA ()
mobile robot; mobiler Roboter; service robot; Serviceroboter; Omnidirektional; Fahrwerksregelung; Roboter; Produktentwicklung; Rad; Regelung; Fahrwerk

In the future, service robots will work in various applications in domestic, public and industrial environments, for example as household assistants or for inspection tasks in production plants. To fulfil complex tasks in natural surroundings these robots will need a high manoeuvrability and flexibility. In order to allow robot platforms to robustly navigate in narrow environments, highly integrated flexible drive modules are necessary together with a control concept that ensures a high manoeuvrability and allows intuitive steering. This paper discusses the design guidelines, advantages and drawbacks of the proposed wheel modules in context with the arising control problem. An overview on the different concepts is provided together with a qualitative and quantitative evaluation of the proposed system.