Title:
Design and Development of a Dynamically-Balancing Holonomic Robot
Design and Development of a Dynamically-Balancing Holonomic Robot
Author(s)
Reynolds-Haertle, Saul
Stilman, Mike
Stilman, Mike
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Abstract
This paper describes the design, control, and construction
of Golem Wing, the first vehicle which both balances
dynamically and has entirely holonomic ground movement.
A nonstandard linear arrangement of mecanum wheels gives
it the load-lifting, performance, and manipulation benefits of
a dynamically-balancing platform without the maneuvering
difficulties exhibited by previous balancing platforms. We show
that the arrangement is capable of holonomic motion, describe
a controller that maintains dynamic balance during holonomic
motion, and show an implementation of the system in hardware
that validate our assertions.
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Date Issued
2011
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Resource Type
Text
Resource Subtype
Technical Report