Design and Control of Ball Wheel Omnidirectional Vehicles

  title={Design and Control of Ball Wheel Omnidirectional Vehicles},
  author={Mark West and H. Harry Asada},
A new class cif ball wheel mechanisms f o r omnidirectional vehicles is presented. Th i s ball wheel mechanism can be designed to yield ful ly mobile vehicles that are no t only free of any k inemat ic singularity but are configuration-,invaraant in k inemat ic behavior. Invariant k inemat ics greatly simplifies the control of smooth and precise vehicle motion. Multiple displacement sensors are easily incorporated in to each ball wheel mechanism. Th i s unique feature enables the detection of… CONTINUE READING
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