Konzept zur intuitiven Steuerung omnidirektionaler Flurförderzeuge mit beliebiger Radkonfiguration

Abstract

Industrial trucks with their manifold wheel configurations are controlled in many different ways either manually or automatically. The employed interfaces are vehicle specific and often not very intuitive. To reach the goal of a uniform description for the target type of motion and velocity, three independent, intuitive to grasp and physically meaningful parameters are defined. A focus on avoiding singularities leads to continuous control variables for the involved drives under all conditions. Based on an example chassis with an arbitrary number of combined steering and drive modules, an efficient way of calculation illustrates this concept, which aims to harmonize such control interfaces.