PUMA publications for /user/isw-bibliothek/system%20omni-direction%20controlhttps://puma.ub.uni-stuttgart.de/user/isw-bibliothek/system%20omni-direction%20controlPUMA RSS feed for /user/isw-bibliothek/system%20omni-direction%20control2024-03-29T15:58:32+01:00Heavy-duty omni-directional Mecanum-wheeled robot for autonomous navigation: System development and simulation realizationhttps://puma.ub.uni-stuttgart.de/bibtex/2e3db3a7268ac6ffff9570198f8756285/isw-bibliothekisw-bibliothek2016-03-14T11:15:48+01:00ISW ROS architecture control mobile omni-direction robots sce simulation system xkt <span data-person-type="author" class="authorEditorList "><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Lie Xie" itemprop="url" href="/person/1c3a8a0fb604bd8513df8558dba38ad35/author/0"><span itemprop="name">L. Xie</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Christian Scheifele" itemprop="url" href="/person/1c3a8a0fb604bd8513df8558dba38ad35/author/1"><span itemprop="name">C. Scheifele</span></a></span>, </span><span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Weiliang Xu" itemprop="url" href="/person/1c3a8a0fb604bd8513df8558dba38ad35/author/2"><span itemprop="name">W. Xu</span></a></span>, </span> and <span><span itemtype="http://schema.org/Person" itemscope="itemscope" itemprop="author"><a title="Karl A. Stol" itemprop="url" href="/person/1c3a8a0fb604bd8513df8558dba38ad35/author/3"><span itemprop="name">K. Stol</span></a></span></span>. </span><span class="additional-entrytype-information"><span itemtype="http://schema.org/Book" itemscope="itemscope" itemprop="isPartOf"><em><span itemprop="name">Mechatronics (ICM), 2015 IEEE International Conference on</span>, </em></span><em>page <span itemprop="pagination">256-261</span>. </em>(<em><span>March 2015<meta content="March 2015" itemprop="datePublished"/></span></em>)</span>Mon Mar 14 11:15:48 CET 2016Mechatronics (ICM), 2015 IEEE International Conference onMarch256-261Heavy-duty omni-directional Mecanum-wheeled robot for autonomous navigation: System development and simulation realization2015ISW ROS architecture control mobile omni-direction robots sce simulation system xkt A Mecanum-wheeled robot benefits from great omni-direction maneuverability. However it suffers from random slippage and high-speed vibration, which creates electric power safety, uncertain position errors and energy waste problems for heavy-duty tasks. A lack of Mecanum research on heavy-duty autonomous navigation demands a robot platform to conduct experiments in the future. This paper introduces AuckBot, a heavy-duty omni-directional Mecanum robot platform developed at the University of Auckland, including its hardware overview, the control system architecture and the simulation design. In particular the control system, synergistically combining the Beckhoff system as the Controller-PC to serve low-level motion execution and ROS as the Navigation-PC to accomplish highlevel intelligent navigation tasks, is developed. In addition, a computer virtual simulation based on ISG-virtuos for virtual AuckBot has been validated. The present status and future work of AuckBot are described at the end.