여유 자유도를 지닌 전방향 모바일 로봇에 대한 연구

Abstract

Recently, research on the omni-directional mobile robots have been active. But most of cases it is restricted to minimum mobility and the study of omni-directional mobile robot with redundant mobility is insufficient. Because of mobility redundancy, omni-directional mobile robots have many choices on the chain motion and that lead many advantages on robot’s work. Thus, this paper propose omni-directional mobile robot(Omni-mobile II) with redundancy mobility. In addition, this paper deals modeling of the robot , kinemaitc analysis and some control methods that are proposed early or modified. Control methods are investigated in 3 ways : inverse kinematic analysis with redundant mobility, augmented jacobian and weighted pseudo-inverse . And the meaning of the simulation results for that methods is discussed. Finally the merit of redundant mobility is shown by motion of the chain.