Control of an asymmetrical omni directional mobile robot
نویسندگان
چکیده
Abstract: This paper describes how to control an asymmetric wheeled mobile robot with omnidirectional wheels, considering the sample of a robot with three wheels. When flexible motion capabilities are required this robot must be designed to meet the related requirements, namely fast and agile motions as well as robust navigation. This paper provides an overview for the design of kinematics and dynamics of the robot, as well as the motion and velocities equations. In addition to the above, a control method to obtain a proper control model is explained. Simulation example is presented to demonstrate the ability of this control method. The implementation and test of the controller on the real robot gives the results compatible with the simulation. It was learned that the discontinuities between omnidirectional wheels’ rollers play an important role in decreasing the accuracy of motion.
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