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Apparatus for controlling motion of normal wheeled omni-directional vehicle and method thereof

  • US 5,739,657 A
  • Filed: 04/30/1996
  • Issued: 04/14/1998
  • Est. Priority Date: 05/10/1995
  • Status: Expired due to Term
First Claim
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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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