Energy Efficient Drive of an Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels

Authors:	Song Jae-Bok, Korea University, Korea, Republic of Kim Jeong-Keun, Korea University, Korea, Republic of
Topic:	4.3 Robotics
Session:	Mobile Robots I
Keywords:	Omnidirectional mobile robot

Abstract

In this paper the second version of the omnidirectional mobile robot with steerable omnidirectional wheels (OMR-SOW) is presented. This robot can operate in either the omnidirectional or the differential drive mode depending on the drive conditions. In the omnidirectional mode, it has 3 DOFs in motion and 1 DOF in steering which can function as a continuously-variable transmission (CVT). The CVT function can be used to enhance energy efficiency of the robot operation. Kinematics and dynamics of this robot are examined. In the proposed steering algorithm, the steering angle is controlled so that motors may operate in the region of high velocity and low torque. Various tests show that motion control of the OMR-SOW works satisfactorily and the proposed steering algorithm for CVT can provide higher energy efficiency than the algorithm using a fixed steering angle.