Abstract
This paper presents the motion programming and control of omni-directional mobile robot through the process of building and programming a small robotic platform with secondary design criteria of modularity and simplified control. This is accomplished by combining the positive aspects of several different robotics platform ideas. The platform is shaped like an equilateral triangle with a servo motor, sensors, and omni-wheel, controlled by a PIC microcontroller.
In this work the kinematics, inverse kinematics and dynamic module for the platform is derived. Two search algorithms (the wall-following search and the “most-open-area” search) is designed, tested, and analyzed experimentally.
References
[2] Y. Low, J. Angeles, and K. Low, "A comparative Mobility Study of Three Wheeled Mobile Robots", Proc. The Sixth International Conference on Control, Automation, Robotics and Vision, Singapore, 2000.
[3] M. West, and H. Asada," Design of Ball Wheel Vehicles with Full Mobility, Invariant Kinematics and Dynamics and Anti-slip Control", Prco. The 1994 ASME Design Technical Conference 23rd Biennial Mechanisms Conference, pp.377- 384, 1994.
[4] J. Grabowiecki,n, “Vehicle Wheel”, US Patent 1,303,535, June 3, 1991
[5] N. Jones, M. Hill, and M. Shanahan, "Small-Size Soccer Robots", University of Adelaide, pp. 2-7, Australia, 2005.
[6] S. Saha, J. Angeles, and J. Darcovich, "The Design of Kinematically Isotropic Rolling Robots with Omni-directional Wheels", Mechanism and Machine Theory, Vol. 8, pp.1127-1137,1995
[7] N. Langlois, " Modularity in Technology and Organizations". Thesis, the University of Connecticut;, 2000.
[8] T. YATA, L. KLEEMAN and S.YUTA, "Wall Following Using Angle Information Measured by a Single Ultrasonic Transducer". IEEE Int. Conf. On Robotics & Automation, Leuven, Belgium, 1998.
[9] K.Yoram, "Robotics For Engineers", McGraw-Hill Book Company."1985".
[10] A. K. Bose, "Modular Omni Directional Drive for a Mobile Robot Platform", Fraunhofer Institute for Autonomous Intelligent Systems, Germany, pp.1-10 2003.
Copyright: Open Access authors retain the copyrights of their papers, and all open access articles are distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution and reproduction in any medium, provided that the original work is properly cited. The use of general descriptive names, trade names, trademarks, and so forth in this publication, even if not specifically identified, does not imply that these names are not protected by the relevant laws and regulations. While the advice and information in this journal are believed to be true and accurate on the date of its going to press, neither the authors, the editors, nor the publisher can accept any legal responsibility for any errors or omissions that may be made. The publisher makes no warranty, express or implied, with respect to the material contained herein.