Fault Tolerant Control Strategy for OmniKity-III
نویسندگان
چکیده
In this paper OmniKity-III (OK-III), a novel wheeled omni-directional mobile robot is developed and its kinematic model and control laws are derived. A special gear train was developed to have omnidirectional mechanism using conventional tire wheels. Several control laws are provided by considering the robot as a redundantly actuated wheeled mobile robot (WMR) on the plane. Since the robot has three degrees of freedom (DOF) in motion, failure in any one of the motor can be compensated by the other two motors in posture control although the omni-directional mobility is lost. Simulations and experiments demonstrate the e ectiveness of the proposed omni-directional mechanism.
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