Unified Dynamic Control of Omnidirectional Robots

Control of an Omnidirectional Robot Based on the Kinematic and Dynamic Model

“…They are used in industrial applications to transport materials in manufacturing, value-added and warehousing operations [10]; and iii) omnidirectional robots, A vehicle that can drive with 3 degrees of freedom in a two dimensional space and also independently control, translation and rotation can be considered as an omnidirectional robot [11]. By configuration, the omnidirectional robot can move in the desired direction from any starting position [12], because the mobile system ensures perfect mobility in any narrow space (curved, diagonal or any other space) because of its type of mecanum wheels [13]. Due to their versatility they can perform the functions of suppliers, inspectors, supervise different tasks in remote or explosive areas and provide support or bases for other robots or manipulators, because of all these features the demand for the use of omnidirectional robots has increased [12].…”

“…By configuration, the omnidirectional robot can move in the desired direction from any starting position [12], because the mobile system ensures perfect mobility in any narrow space (curved, diagonal or any other space) because of its type of mecanum wheels [13]. Due to their versatility they can perform the functions of suppliers, inspectors, supervise different tasks in remote or explosive areas and provide support or bases for other robots or manipulators, because of all these features the demand for the use of omnidirectional robots has increased [12].…”

“…Among the different works carried out with omnidirectional robots we can detail: i) construction, the theory describes that for the construction of such omnidirectional robots with mecanum wheel the AB configuration is more used [12,14], and the arrangement of the wheels are made rectangular or in turn commercial type robots such as KUKA Youtbot are used [15,16]; ii) modeling, the previously designed models employ only the robot's kinematics regardless of the advantages provided by the dynamic model for controller stability and when the dynamic model is presented it has as inputs torques or voltages as shown in [17], where as a contribution to the dynamic model the dynamics of the engines were considered in this case the system inputs are the armature voltages of each engine; iii) implementing control algorithms, Several of the articles use nonlinear controllers based on linear algebra, numerical or unifiedbased methods in the robot's kinematics with dynamic compensation, e.g., [18], it details the implementation of a kinematic controller with internal dynamic compensation that reduces the velocity tracking error.…”

“…It is widely used in the automotive industry to test vehicle dynamics and drivers [21], also used in aerospace and industrial automation. Therefore, this work proposes the implementation of the hardware in the loop technique in a virtual environment in real time, to evaluate control algorithms based on the kinematic and dynamic model of an omnidirectional robotic platform in four wheel configuration type mecanum, using as inputs velocities with what differs from previous jobs [12,14,17], will also be validated through the implementation of the control algorithm in a real omnidirectional robot.…”