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Transactions of the Institute of Measurement and Control
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Motion conditions justification of an omni-directional mobile platform by electro-mechanical transduction matrix

Y.L. Kuo

Industrial Technology Research Institute, Hsinchu, Taiwan, ylkuo{at}itri.org.tw

J.Y. Lin

Industrial Technology Research Institute, Hsinchu, Taiwan

Y.N. Lee

Industrial Technology Research Institute, Hsinchu, Taiwan

The paper presents a new approach to electro-mechanical transduction applied to motion conditions justification of an omni-directional mobile platform without implementing conventional mechanical sensors. Since the experimental platform is driven by four DC motors, the electro-mechanical transduction of a DC motor is identified by theoretical derivation. Also, the motion modelling of the mobile platform is presented. Based on the evaluation of mechanical impedance, an experimental example demonstrates that the platform has the function of road surface sensing, which can be used as a base for controlling the motion of the platform. The verification of the rotating speed of a DC motor is also provided, and the results show that the proposed approach can accurately respond to the motion of the platform.

Key Words: electrical/mechanical impedance • omni-directional mobile platform • transduction matrix.

Transactions of the Institute of Measurement and Control, Vol. 31, No. 2, 167-179 (2009)
DOI: 10.1177/0142331208092517
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