Design and Development of a Holonomic Mobile Robot for Material Handling and Transportation Tasks
Апстракт
Modern intelligent manufacturing systems are dynamic environments with the ability to respond and adapt to various internal and external changes that can occur during the manufacturing process. By default, they imply efficient, reliable, and flexible material handling and transportation system, which can be effectively realized by using intelligent mobile robots. In order to achieve locomotion of an intelligent mobile robot that will minimize the usage of space within the manufacturing environment, we propose the development of a new holonomic mobile robot DOMINO (Deep learning-based Omnidirectional Mobile robot with INtelligentcOntrol). 3D model of holonomic mobile robot prototype is developed in CAD software package SolidWorks, and designed parts are produced with additive manufacturing technology. Single board computer Raspberry Pi 4 and microcontroller board Arduino Mega 2560 are used for motion control of the holonomic mobile robot, while control actions are determined by the defi...ned kinematic model of the omnidirectional wheeled mobile robot. The experimental verification shows that the holonomic mobile robot is capable of following a predetermined path while successfully avoiding obstacles within a laboratory model of a manufacturing environment.
Кључне речи:
Omnidirectional wheels / Obstacle avoidance / Material handling and transportation tasks / Kinematic modeling / Intelligent holonomic mobile robotИзвор:
Lecture Notes in Networks and Systems, 2021, 233, 709-716Издавач:
- Springer Science and Business Media Deutschland GmbH
Финансирање / пројекти:
- Министарство науке, технолошког развоја и иновација Републике Србије, институционално финансирање - 200105 (Универзитет у Београду, Машински факултет) (RS-MESTD-inst-2020-200105)
- MISSION4.0 - Deep Machine Learning and Swarm Intelligence-Based Optimization Algorithms for Control and Scheduling of Cyber-Physical Systems in Industry 4.0 (RS-ScienceFundRS-AI-6523109)
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Đokić, L. AU - Jokić, Aleksandar AU - Petrović, Milica AU - Miljković, Zoran PY - 2021 UR - https://machinery.mas.bg.ac.rs/handle/123456789/3640 AB - Modern intelligent manufacturing systems are dynamic environments with the ability to respond and adapt to various internal and external changes that can occur during the manufacturing process. By default, they imply efficient, reliable, and flexible material handling and transportation system, which can be effectively realized by using intelligent mobile robots. In order to achieve locomotion of an intelligent mobile robot that will minimize the usage of space within the manufacturing environment, we propose the development of a new holonomic mobile robot DOMINO (Deep learning-based Omnidirectional Mobile robot with INtelligentcOntrol). 3D model of holonomic mobile robot prototype is developed in CAD software package SolidWorks, and designed parts are produced with additive manufacturing technology. Single board computer Raspberry Pi 4 and microcontroller board Arduino Mega 2560 are used for motion control of the holonomic mobile robot, while control actions are determined by the defined kinematic model of the omnidirectional wheeled mobile robot. The experimental verification shows that the holonomic mobile robot is capable of following a predetermined path while successfully avoiding obstacles within a laboratory model of a manufacturing environment. PB - Springer Science and Business Media Deutschland GmbH C3 - Lecture Notes in Networks and Systems T1 - Design and Development of a Holonomic Mobile Robot for Material Handling and Transportation Tasks EP - 716 SP - 709 VL - 233 DO - 10.1007/978-3-030-75275-0_78 ER -
@conference{ author = "Đokić, L. and Jokić, Aleksandar and Petrović, Milica and Miljković, Zoran", year = "2021", abstract = "Modern intelligent manufacturing systems are dynamic environments with the ability to respond and adapt to various internal and external changes that can occur during the manufacturing process. By default, they imply efficient, reliable, and flexible material handling and transportation system, which can be effectively realized by using intelligent mobile robots. In order to achieve locomotion of an intelligent mobile robot that will minimize the usage of space within the manufacturing environment, we propose the development of a new holonomic mobile robot DOMINO (Deep learning-based Omnidirectional Mobile robot with INtelligentcOntrol). 3D model of holonomic mobile robot prototype is developed in CAD software package SolidWorks, and designed parts are produced with additive manufacturing technology. Single board computer Raspberry Pi 4 and microcontroller board Arduino Mega 2560 are used for motion control of the holonomic mobile robot, while control actions are determined by the defined kinematic model of the omnidirectional wheeled mobile robot. The experimental verification shows that the holonomic mobile robot is capable of following a predetermined path while successfully avoiding obstacles within a laboratory model of a manufacturing environment.", publisher = "Springer Science and Business Media Deutschland GmbH", journal = "Lecture Notes in Networks and Systems", title = "Design and Development of a Holonomic Mobile Robot for Material Handling and Transportation Tasks", pages = "716-709", volume = "233", doi = "10.1007/978-3-030-75275-0_78" }
Đokić, L., Jokić, A., Petrović, M.,& Miljković, Z.. (2021). Design and Development of a Holonomic Mobile Robot for Material Handling and Transportation Tasks. in Lecture Notes in Networks and Systems Springer Science and Business Media Deutschland GmbH., 233, 709-716. https://doi.org/10.1007/978-3-030-75275-0_78
Đokić L, Jokić A, Petrović M, Miljković Z. Design and Development of a Holonomic Mobile Robot for Material Handling and Transportation Tasks. in Lecture Notes in Networks and Systems. 2021;233:709-716. doi:10.1007/978-3-030-75275-0_78 .
Đokić, L., Jokić, Aleksandar, Petrović, Milica, Miljković, Zoran, "Design and Development of a Holonomic Mobile Robot for Material Handling and Transportation Tasks" in Lecture Notes in Networks and Systems, 233 (2021):709-716, https://doi.org/10.1007/978-3-030-75275-0_78 . .