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Karl Iagnemma. Udengaard, Martin Richard Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering 2009-03-16T19:51:42Z 2009-03-16T19:51:42Z 2008 2008 http://hdl.handle.net/1721.1/44856 301741408 Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008. Includes bibliographical references (leaves 49-52). An omnidirectional mobile robot is able, kinematically, to move in any direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional mobile robots have considered the case of motion on flat, smooth terrain. In this thesis, an investigation of the suitability of an active split offset caster driven omnidirectional mobile robot for use in rough terrain is presented. Kinematic and geometric properties of the drive mechanism are investigated along with guidelines for designing the robot. An optimization method is implemented to explore the design space. These analyses can be used as design guidelines for development of an omnidirectional mobile robot that can operate in unstructured environments. A simple kinematic controller that considers the effects of terrain unevenness via an estimate of the wheel-terrain contact angles is also presented. It is shown in simulation that under the proposed control method, near-omnidirectional tracking performance is possible even in rough, uneven terrain. by Martin Richard Udengaard. S.M. 52 leaves eng Massachusetts Institute of Technology M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 Mechanical Engineering. Analysis, design, and control of an omnidirectional mobile robot in rough terrain Thesis application/pdf false Publication unknown unknown <Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="10b6d347-0ac6-4d8d-be05-d86700ae1f6a"> <Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type> <Language>eng</Language> <Title>Analysis, design, and control of an omnidirectional mobile robot in rough terrain</Title> <PublishedIn> <Publication> </Publication> </PublishedIn> <PublicationDate>2008</PublicationDate> <Authors> <Author> <DisplayName>Udengaard, Martin Richard</DisplayName> <Affiliation> <OrgUnit> </OrgUnit> </Affiliation> </Author> </Authors> <Editors> </Editors> <Publishers> <Publisher> <DisplayName>Massachusetts Institute of Technology</DisplayName> <OrgUnit /> </Publisher> </Publishers> <License>http://dspace.mit.edu/handle/1721.1/7582</License> <Keyword>Mechanical Engineering.</Keyword> <Abstract>An omnidirectional mobile robot is able, kinematically, to move in any direction regardless of current pose. To date, nearly all designs and analyses of omnidirectional mobile robots have considered the case of motion on flat, smooth terrain. In this thesis, an investigation of the suitability of an active split offset caster driven omnidirectional mobile robot for use in rough terrain is presented. Kinematic and geometric properties of the drive mechanism are investigated along with guidelines for designing the robot. An optimization method is implemented to explore the design space. These analyses can be used as design guidelines for development of an omnidirectional mobile robot that can operate in unstructured environments. A simple kinematic controller that considers the effects of terrain unevenness via an estimate of the wheel-terrain contact angles is also presented. It is shown in simulation that under the proposed control method, near-omnidirectional tracking performance is possible even in rough, uneven terrain.</Abstract> <Access xmlns="http://purl.org/coar/access_right" > </Access> </Publication>