Omnidirectional Robot System that can Change the Number of Actuators and the Disposition

This paper proposes a new system for omnidirectional vehicles or robots, in which the arrangement of actuators is designed according to the intended application. In other words, the number of actuators and the disposition there of are determined based on the specific application. The system consists of two controllers, a feedforward controller using an inverse-kinematics model and a feedback controller that reduces the effects of disturbances due to eccentric loading or imbalanced driving force. In order to illustrate the proposed system, we conducted experiments using a Horizontal Wheel Driving Mechanism as an actuator. The performance of the system was verified experimentally for various actuator arrangements. As an operative example, the system was applied to provide a steel office desk with omnidirectional movement. The proposed system will expand the applicability of omnidirectional vehicles or robots.