Kinematics modeling and simulation of an autonomous omni-directional mobile robot

Abstract

Although robotics has progressed to the extent that it has become relatively accessible with low-cost projects, there is still a need to create models that accurately represent the physical behavior of a robot. Creating a completely virtual platform allows us to test behavior algorithms such as those implemented using artificial intelligence, and additionally, it enables us to find potential problems in the physical design of the robot. The present work describes a methodology for the construction of a kinematic model and a simulation of the autonomous robot, specifically of an omni-directional wheeled robot. This paper presents the kinematic model development and its implementation using several tools. The result is a model that follows the kinematics of a triangular omni-directional mobile wheeled robot, which is then tested by using a 3D model imported from 3D Studio ® and Matlab ® for the simulation. The environment used for the experiment is very close to the real environment and reflects the kinematic characteristics of the robot. Keywords:Mobile robots, robotics, kinematics, modeling and simulation. RESUMENAunque la robótica ha avanzado hasta el punto de ser relativamente accesible con proyectos de bajo costo, aún cabe la necesidad de crear modelos que representen fielmente el comportamiento físico de un robot creando una plataforma completamente virtual. Esto nos permite, por un lado, probar algoritmos de comportamiento o de inteligencia artificial y, por otro lado, encontrar probables problemas en el diseño físico. El presente trabajo propone el modelado cinemático y la simulación de un robot móvil autónomo, particularmente de un robot omni-direccional con ruedas. Se plantea la metodología para la construcción del modelo cinemático así como su implementación utilizando diversas herramientas. El resultado es un modelo que representa a un robot móvil omni-direccional triangular con ruedas, que fue probado utilizando un modelo tridimensional importado de 3D Studio ® , y utilizando Matlab ® para la simulación del modelo. También se implementa el mismo modelo utilizando una herramienta dedicada a la simulación de robots, que ofrece un ambiente muy completo de simulación. El ambiente de simulación ofrece un comportamiento muy cercano al real y refleja las características cinemáticas del robot.Palabras clave: Robots móviles, robótica, cinemática, modelación y simulación. Received

Omni-Joint a Comparative Study for Singularity

“…Substituting (7) in (8) to get the Determinant with respect to θ and φ. While taking into consideration that there will be two equations, one for Zone-1 and one for Zone-2.…”

“…The study of omnidirectional manipulators has been conducted for kinematics, modeling, and simulation for using those joints in autonomous mobile robots Sillas, Hurtado, Vargas, Reséndiz, and Tovar [8], Djebrani, Benali, and Abdessemed [9].…”

Design and Realization of Mobile Robot Driven by Omnidirectional Wheels

“…The omnidirectional implementation method [1] includes: (1) A single power source drives the movement of the mobile unit through an internal transmission chain and is equipped with a corresponding steering mechanism. (2) The power source drives the driving wheel and is equipped with a universal wheel or an omnidirectional wheel to follow. (3) Mecanum wheelset with an independent drive unit for combined coordinated motion.…”

“…Foreign scholars such as Daniel Garcia Sillas [2] designed a triangular omnidirectional mobile wheeled robot, and proposed a method of constructing a kinematic model and simulating the movement of an autonomous robot to find out the problems in the physical design; Duyen Ha Thi Kim [3] et al proposed a method for handling the control problem of unmodeled parts of a four-wheeled omnidirectional mobile robot to ensure that the robot can still maintain high-precision motion when unknown factors adversely affect the robot control. Qian Jun [4] et al designed an omnidirectional mobile robot based on four Mecanum wheels.…”

Design of Autonomous Mobile Robot for Cleaning in the Environment with Obstacles

“…A high-level controller [8] helps the robot to follow a virtual robot path with avoiding obstacles. Creating a virtual model of the robot opens another field where we can verify the algorithm and potential problems in the design of the robot [9]. The FPGA-based controller also shows high potentials for the robotic arm [10] and power-saving architecture for the motions [11].…”