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Control of a redundant, reconfigurable ball wheel drive mechanism for an omnidirectional mobile platform

Published online by Cambridge University Press:  11 December 2006

Young-Chul Lee ,
Danny V. Lee ,
Jae H. Chung  and
Steven A. Velinsky
Young-Chul Lee
Affiliation:
Department of Mechanical and Aeronautical Engineering, University of California-Davis, Davis, CA, USA
Danny V. Lee
Affiliation:
Department of Mechanical and Aeronautical Engineering, University of California-Davis, Davis, CA, USA
Jae H. Chung
Affiliation:
Department of Mechanical Engineering, Stevens Institute of Technology, Hoboken, NJ, USA
Steven A. Velinsky*
Affiliation:
Department of Mechanical and Aeronautical Engineering, University of California-Davis, Davis, CA, USA
*
*Corresponding author. E-mail: savelinsky@ucdavis.edu
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Summary

This paper develops a controller for position tracking of a new ball wheel drive mechanism for a robust omnidirectional wheeled mobile platform, an adaptive controller with physical parameter estimation. This platform, integrated with a manipulator, is designed for use in highway maintenance and construction, which is a generally unstructured and congested environment. The proposed ball wheel mechanism can move in all directions on the plane, instantaneously and isotropically. Reconfiguration of the redundant drive system of the ball wheel mechanism is accomplished by altering the contact pressure between the drive wheels and the sphere based on platform heading direction. The system redundancy is resolved through a Weighted Optimal Torque Distribution method allowing for smooth reconfiguration. Finally, experimental and simulation results demonstrate the effectiveness of the approach.

Keywords

OmnidirectionalBall wheelAdaptive controlRobustnessRedundancyReconfiguration
Type
Article
Information
Robotica , Volume 25 , Issue 4 , July 2007 , pp. 385 - 395
Copyright
Copyright © Cambridge University Press 2006

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