Narrow Results

This paper proposes a precise driving control algorithm by utilizing the slip pattern of an inverted ball-driving robot with Mecanum wheels. The slip pattern of the ball-driving robot has an eight-leaves flower shape, which can be utilized to plan the driving direction of the ball-robot and to minimize the slip. When there exists the slip, the localization of the ball-robot becomes very coarse because of the uncertainties caused by the slip. By minimizing the slip using the analyzed slip pattern, the precise driving of the inverted ball-driving robot with Mecanum wheels can be achieved. Real experiments with a self-manufactured ball-robot have been carried out to show the preciseness of the driving based upon the proposed algorithm compared to the conventional algorithms.