Control of an omni-directional power-assisted cart

作     者：Maeda, H Fujiwara, S Kitano, H Yamashita, H Fukunaga, H 

作者机构：Matsushita Elect Works Ltd Prod Engn Res Lab Osaka 5718686 Japan Matsushita Elect Works Ltd Plast Mat Div Yokaichi Mie 5108560 Japan 

出 版 物：《JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING》 (JSME Int. J. Ser. C.)

年 卷 期：2003年第46卷第3期

页      面：931-937页

核心收录：

学科分类：08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程] 

主　　题：motion control mechatronics and robotics power assist system omni-directional vehicle universal wheel speed control positional control meal delivery cart in hospital 

摘      要：This paper describes an easy-to-operate, omni-directional cart. This cart includes power assist technology that acts for both the longitudinal and rotational motions of the cart. Two objectives are set for this development. The first objective is to overcome the difficulty of shifting the cart laterally. Therefore, the equation for calculating the cart turning speed is modified so that the moment, which is driven by the operating force in the right/left direction, is offset. As a result, it becomes possible to stabilize the balance between the operating force in the right/left direction and the operating moment, and improve the operating performance. The second objective is to overcome the other difficulty whereby, during the one-hand pull-operation, the cart tended to run off course to the right/left. To solve this problem, we add a positional control in the right/left direction. As a result, we reduce the lateral deviation of the cart, and improve the operating performance.