Apparatus for controlling motion of normal wheeled omni-directional vehicle and method thereof
First Claim
1. A controlling apparatus for controlling a motion of a normal wheeled omni-directional vehicle, comprising:
- storing means for storing a first control command for designating a motion of a body of the normal wheeled omni-directional vehicle with data of relative variables of a relative coordinate system defined for the body of the normal wheeled omni-directional vehicle; and
converting means for converting the first control command into motions of wheels of the normal wheeled omni-directional vehicle by calculations of inverse kinematics in the relative coordinate system using the data of the relative variables, obtaining data of drive variables representing the motions of the wheels, and outputting control signals corresponding to the obtained data of the drive variables.
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Accused Products
Abstract
A controlling apparatus for representing the motion of a normal wheeled omni-directional vehicle (ODV) in a relative coordinate system, and for effectively controlling the ODV and a controlling method thereof. Drive wheels are connected to four corners of the body of the ODV through offset links that can be independently steered. With the offset links, even if the body stops, it can be reoriented without a need to perform a forced direction change operation. The traveling speed of the body, the turning radius of the body, and the angle between the horizontal axis of the body and the traveling direction thereof are defined as relative variables of a relative coordinate system. With these relative variables, the motion of the ODV is designated. The designated motion of the body is converted into the time change or the displacement (drive speed) and the steering angle of each wheel by inverse kinematics. The corresponding control signals are sent to a driving unit of the wheels. Thus, the body is turned with a turning radius about a predetermined point. Consequently, the body can be controlled corresponding to control commands based on the body. In addition, the measured results of the drive speeds and the steering angles of the wheels can be converted into relative variables by forward kinetics so as to determine the motion of the body.
183 Citations
21 Claims
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1. A controlling apparatus for controlling a motion of a normal wheeled omni-directional vehicle, comprising:
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storing means for storing a first control command for designating a motion of a body of the normal wheeled omni-directional vehicle with data of relative variables of a relative coordinate system defined for the body of the normal wheeled omni-directional vehicle; and converting means for converting the first control command into motions of wheels of the normal wheeled omni-directional vehicle by calculations of inverse kinematics in the relative coordinate system using the data of the relative variables, obtaining data of drive variables representing the motions of the wheels, and outputting control signals corresponding to the obtained data of the drive variables. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A controlling apparatus for controlling the motion of a normal wheeled omni-directional vehicle that can travel in any direction, comprising:
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measuring means for measuring values of drive variables representing the motions of wheels of the normal wheeled omni-directional vehicle and for outputting the measured results; and converting means for converting the measured results into data of relative variables of a relative coordinate system defined for a body of the normal wheeled omni-directional vehicle by calculations of forward kinematics, for recognizing the motion of the body in the relative coordinate system using the data of the relative variables, and for outputting the recognized results. - View Dependent Claims (12, 13, 14)
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15. A method for controlling motion of a normal wheeled omni-directional vehicle, comprising the steps of:
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designating motion of a body of the normal wheeled omni-directional vehicle with data of relative variables of a relative coordinate system defined for the body of the normal wheeled omni-directional vehicle; converting a first control command into motions of wheels of the normal wheeled omni-directional vehicle by calculations of inverse kinematics in the relative coordinate system using the data of the relative variables so as to obtain data of drive variables representing the motions of the wheels; and controlling the motions of the wheels with the obtained data of the drive variables. - View Dependent Claims (16, 17, 18)
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19. A method for controlling the motion of a normal wheeled omni-directional vehicle that can travel in any direction, comprising the steps of:
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measuring values of drive variables representing motions of wheels of the normal wheeled omni-directional vehicle; converting the measured values into data of relative variables of a relative coordinate system defined for the body of the normal wheeled omni-directional vehicle by calculations of forward kinematics and so as to recognize motion of the body in the relative coordinate system using the data of the relative variables; and designating the motion of the body corresponding to the recognized motion of the body.
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20. A normal wheeled omni-directional vehicle having normal wheels for traveling in omni-directions, comprising:
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storing means for storing a control command for designating motion of a body of the normal wheeled omni-directional vehicle with data of relative variables of a relative coordinate system defined in the body of the normal wheeled omni-directional vehicle; and converting means for converting the control command into motions of wheels of the normal wheeled omni-directional vehicle by calculations of inverse kinematics in the relative coordinate system using the data of the relative variables, obtaining data of drive variables representing motions of the wheels, and outputting control signals corresponding to the obtained data of the drive variables.
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21. A computer readable storage medium used to direct a computer to perform the functions of:
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designating motion of a normal wheeled omni-directional vehicle having normal wheels that can travel in any direction with data of relative variables of a relative coordinate system defined for the normal wheeled omni-directional vehicle as a control command so as to control the motion of the normal wheeled omni-directional vehicle; converting the control command into motions of the wheels of the normal wheeled omni-directional vehicle by calculations of inverse kinematics for the relative coordinate system using the data of the relative variables so as to obtain data of drive variables representing the motions of the wheels; and controlling the motions of the wheels of the normal wheeled omni-directional vehicle with control signals corresponding to the data of the drive variables.
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Specification