Holonomic and Omnidirectional Vehicle with （完整和全向车辆）.pdf

Proceedings of the 1996IEEE International Conference on Robotics and Automation Minneapolis,Minnesota - April 1996 Holonomic and Omnidirectional Vehicle with Conventional Tires Masayoshi Wada ami Shunji Mori Mechatronics D e v e l o p m e n t Group, Electronics Development Laboratory Fuji Electric Corporate Researclh and Developir~ent,Ltd. 1,Fu.ji-machi, Hino-shi, Tokyo 191, JAPAN E-mail : wada@fdO13d03 .tlab.fujidenki.cs.jp Abstract vehicles have many potential aidvrintages over these non- holonomic vehicles. Holonomic vehicles can move in any A new type of holonomic omnidirectionul vehicle which direction immediately with any orientation of the vehicle and consists of wheel mechanisms without free rollers but with motions of holonomic vehicle can be designed independently conventional tires is presented. in each 3DOF coordinates ( x, y, I).This feature leads the Wefirst present a concept of the new driving wheel system to be controlled or stabilized easily by usual feedback mechanism with a tire in the conventional style such QS a control iechniques. These featu.res greatly simplify a total rubber tire or a pneumatic tire,Offset Steered Driving system. Wheel. The configuration of the wheel has an