Method and apparatus for mobile robot motion control
US6853877B1 · kind B1 · utility
17Cited by
19References
4Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Mar 5, 1999 |
| Grant date | Feb 8, 2005 |
| Priority date | — |
| Expiry date | Mar 5, 2019 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0272
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A mobile base movable relative to a surface is disclosed. The base includes a main housing having at least two wheels pivotably and rotatably mounted to the housing with each wheel having a steering axis and a rotation axis. The steering and rotation axes are nonintersecting and are offset by a known caster distance. Further, included are drive means for rotating the wheels to roll along the surface, steering means for pivoting the wheels and changing their heading with respect to the surface, and controller means for reading an input vector from a host processor. The input vector is a three dimensional force torque vector.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.