Simultaneous rotation and translation movement for four omnidirectional wheels holonomic mobile robot

Mariappan, Muralindran; Sing, Jong Chia; Wee, Choo Chee; Khoo, Brendan; Wong, W. K.

doi:10.1109/roma.2014.7295864

Cited by 9 publications

(9 citation statements)

References 4 publications

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“…The main advantage of an omnidirectional motion system applied in a mobile robot is the high-mobility capabilities obtained to navigate in tight indoor spaces [23], being able to move in any direction without performing intermediate rotation maneuvers. The main disadvantages are the complexity of its kinematics [22] and control in order to follow a target trajectory.…”

Section: Omnidirectional Wheelmentioning

confidence: 99%

Design and FDM/FFF Implementation of a Compact Omnidirectional Wheel for a Mobile Robot and Assessment of ABS and PLA Printing Materials

Rubies

Palacín

2020

Robotics

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This paper proposes the design and 3D printing of a compact omnidirectional wheel optimized to create a small series of three-wheeled omnidirectional mobile robots. The omnidirectional wheel proposed is based on the use of free-rotating passive wheels aligned transversally to the center of the main wheel and with a constant separation gap. This paper compares a three inner-passive wheels design based on mass-produced parts and 3D printed elements. The inner passive wheel that better combines weight, cost, and friction is implemented with a metallic ball bearing fitted inside a 3D printed U-grooved ring that holds a soft toric joint. The proposed design has been implemented using acrylonitrile butadiene styrene (ABS) and tough polylactic acid (PLA) as 3D printing materials in order to empirically compare the deformation of the weakest parts of the mechanical design. The conclusion is that the most critical parts of the omnidirectional wheel are less prone to deformation and show better mechanical properties if they are printed horizontally (with the axes that hold the passive wheels oriented parallel to the build surface), with an infill density of 100% and using tough PLA rather than ABS as a 3D printing material.

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Section: Omnidirectional Wheelmentioning

confidence: 99%

Design and FDM/FFF Implementation of a Compact Omnidirectional Wheel for a Mobile Robot and Assessment of ABS and PLA Printing Materials

Rubies

Palacín

2020

Robotics

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“…robot omni-directional atau omni wheel robot yang memiliki mobilitas tinggi [7]. Saat ini masih ada dua jenis desain robot beroda omni, yaitu tiga roda [8][9] dan empat roda [10][11] [12]. Kinematika adalah studi yang paling mendasar tentang bagaimana sistem mekanis berperilaku [13].…”

Section: Pendahuluanunclassified

Pengendalian konvergensi eksponensial untuk omnidirectional mobile robot dengan empat roda

Pamenang¹,

Sirojudin²,

Setiawan³

2020

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Tujuan mendasar dari kontrol gerak mobile robot adalah untuk mengarahkan robot ke posisi yang diberikan secara acak pada ruang 2D. Mobile robot dengan roda omni memiliki sifat holonomic di mana memiliki keunggulan kelincahan dan permasalahan pengendalian gerak hanya pada sisi aktuator, sedangkan mobile robot dengan roda konvensional, memiliki permasalahan tambahan pengendalian gerak dalam ruang area operasional robot. Karenanya, robot omni lebih gesit untuk bergerak dalam konfigurasi ruang area kerja apa pun. Makalah ini menyajikan model kontrol konvergensi eksponensial berbasis model untuk mobile robot omnidirectional roda empat. Kontrol yang diusulkan menjamin penurunan kesalahan secara eksponensial dari gerakan robot ke setiap posisi robot yang diinginkan. Pembahasan meliputi model kinematik dan kontrol dari robot bergerak omnidirectional roda empat dan eksperimen simulasi yang telah dilakukan untuk memverifikasi kinerja kontrol yang meliputi lintasan robot 2D, serta nilai error atau kesalahan pada kontrol robot. Hasil dari eksperimen simulasi menunjukkan keefektifan kontrol yang diusulkan. Mobile robot telah bergerak ke posisi yang diinginkan pada garis lurus dengan tujuan robot yang akurat dan niali error atau kesalahan yang didapat ialah |0.02735| serta grafik error telah menurun secara eksponensial. The fundamental objective of a mobile robot motion control is to navigate the robot to any given arbitrary posture in which robot 2D location and its heading are concerned. Mobile robots with omni wheels have a holonomic properties the advantage is of agility and motion control problems only on the actuator, while mobile robots with conventional wheels, have a problem of motion control the robot in task space. Therefore, the omni-wheeled mobile robots are more agile to move in any task space configuration. This paper presents a model based exponential convergence control law for a four-wheeled omnidirectional mobile robot. The proposed control law guarantees an exponential error decay of mobile robot motion to any given desired robot posture. The kinematic model and the control law of a four-wheeled omnidirectional mobile robot are discussed. Simulation experiments have been conducted to verify the control law performances which include the 2D robot trajectory, the error signals, and the robot control signals. Results from simulation experiments show the effectiveness of the proposed control law. Mobile robot has moved to the desired position in a straight line with the aim of the robot that is accurate and the error or error obtained is | 0.02735 | and the error graph has decreased exponentially

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“…The type of mobility categorizes the mobile robot into omnidirectional (holonomic) and nonholonomic. Omnidirectional mobile robots (OMRs) have attracted greater attention as a result of maneuvering proficiency; that is, they can modify the direction of motion without needing to utilize midway steps compared with the conventional nonholonomic mobile robots [1]. Although the OWMR is not alone in the field of holonomic mobile robots, it outperforms other OMRs such as the legged robots in ordinary terrain due to its energy efficiency and low complexity [2,3].…”

Section: Introductionmentioning

confidence: 99%

Modeling and Trajectory Planning Optimization for the Symmetrical Multiwheeled Omnidirectional Mobile Robot

Almasri

Uyguroğlu

2021

Symmetry

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Trajectory optimization is the series of actions that are taken into consideration in order to produce the best path such that it improves the overall performances of physical properties or reduces the consumption of the resources where the restriction system remains maintained. In this paper, first, a compact mathematical model for a symmetrical annular-shaped omnidirectional wheeled mobile robot (SAOWMR) is derived and verified. This general mathematical model provides an opportunity to conduct research, experiments, and comparisons on these omnidirectional mobile robots that have two, three, four, six, or even more omnidirectional wheels without the need to switch models or derive a new model. Then, a new computationally efficient method is proposed to achieve improvements in the trajectory planning optimization (TPO) for a SAOWMR. Moreover, the proposed method has been tested in collision-free navigation by incorporation of the path constraints. Numerical tests and simulations are presented aiming to ensure the efficiency and effectiveness of the proposed method.

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Simultaneous rotation and translation movement for four omnidirectional wheels holonomic mobile robot

Cited by 9 publications

References 4 publications

Design and FDM/FFF Implementation of a Compact Omnidirectional Wheel for a Mobile Robot and Assessment of ABS and PLA Printing Materials

Design and FDM/FFF Implementation of a Compact Omnidirectional Wheel for a Mobile Robot and Assessment of ABS and PLA Printing Materials

Pengendalian konvergensi eksponensial untuk omnidirectional mobile robot dengan empat roda

Modeling and Trajectory Planning Optimization for the Symmetrical Multiwheeled Omnidirectional Mobile Robot

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