|제목(국문)||메카넘휠을 적용한 구형바퀴로붓(볼-붓)의 주행제어|
|제목(영문)||Travel Control of a Spherical Wheeled Robot (Ball-Bot) with Mecaniim Wheel|
,Deprtment of Electronic Engineering, Pusna National University
박종은 (P.J.E ,Department of Electronic Engineering, Pusan National University ) ▷공저자네트워크등록하기
박지설 (P.J.S ,Department of Electronic Engineering, Pusan National University ) ▷공저자네트워크등록하기
이장명 (JangMyung-Lee ,부산대학교전자공학부 ) ▷공저자네트워크등록하기
In this paper, the travel control of the spherical wheeled robot with a mecanum wheel is impelemented. Four typical wheels or three omni wheels are used to consist of the ball-bot. the slip is occured when the typical wheels is used to the ball-bot. In order to reduce these slip, the spherical wheeled robot with macanum wheels is proposed. Through some experiments, we find that the proposed spherical wheeled robot with a mecanum wheel is superior to the conventional spherical wheeled robot with typical wheels.
|keyword||ball robot, balancing control, PD control, inverted pendulum, mecanum wheel|