Damping and Transfer Control System With Parallel Linkage Mechanism-Based Active Vibration Reducer for Omnidirectional Wheeled Robots

This paper proposes a damping and transfer control system with an active vibration reducer for omnidirectional wheeled robots. The active vibration reducer, which is installed on omnidirectional wheeled robots that use three omni wheels, employs a parallel linkage mechanism and three pneumatic actuators. A spherical pendulum, used as a tentative transfer object, is installed on the endplate of the reducer. The acceleration of the robot is shaped with a notch-filter, and the endplate is controlled by an optimal regulator to damp the swinging of the pendulum generated as the robot moves. The results of experiments conducted in which the robot travelled horizontally along a smooth straight path and a smooth circular path, respectively, and also along a straight path over uneven terrain indicate that the damping performance of the proposed system is effective and satisfactory.