Omni-directional power-assist-modular(PAM) mobile robot for total nursing service system

Abstract

This paper proposes an omni-directional power-assist-modular(PAM) mobile robot for total nursing service system. We focus on verifying a kinematic model of dual-offset active wheel casters for PAM. To control holonomic mobile robotics system, we approached the kinematic model in the aspect of coordinate transformation, and obtained driving velocity and steering velocity from the Cartesian coordinate. Based on the kinematic model, we designed dual-offset active wheel casters with a differential gear mechanism and applied them into PAM. As a result, PAM can move easily at a confined area such as a patient's room of the hospital.