Step-by-step Development of an Omnidirectional Mobile Robot

Eddy Denegri, Emanuel Munoz-Panduro, Oscar E. Ramos

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

Resumen

Mobile robots are ubiquitous nowadays, and some companies build and sell them; but an inconvenience with these already built platforms is, for most of them, the limited access to their low level. Moreover, in spite of their ubiquity, there exists scarce information on how to build a complete mobile platform from scratch. This paper shows the detailed steps to build an omnidirectional robot based on mecanum wheels, for applications on autonomous exploration and navigation. The advantage of the holonomic configuration of the robot is the unconstrained instantaneous direction of motion. We provide a bottom-up guide for the construction of this robot, including the electronic devices, wiring, and the connection setup. Control and software frameworks are also detailed, and the result of the final robot together with some technical characteristics are presented.

Idioma originalInglés
Título de la publicación alojadaSHIRCON 2019 - 2019 IEEE Sciences and Humanities International Research Conference
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781728138183
DOI
EstadoPublicada - nov. 2019
Evento2019 IEEE Sciences and Humanities International Research Conference, SHIRCON 2019 - Lima, Perú
Duración: 13 nov. 201915 nov. 2019

Serie de la publicación

NombreSHIRCON 2019 - 2019 IEEE Sciences and Humanities International Research Conference

Conferencia

Conferencia2019 IEEE Sciences and Humanities International Research Conference, SHIRCON 2019
País/TerritorioPerú
CiudadLima
Período13/11/1915/11/19

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