simulation and control of omni-directional mobile robot

Authors

1 Applied Mechanics- Mechanical Engineering

2 Applied Mechanics-Mechanical Engineering

Abstract

The main purpose of this article is tracking the trajectory of the omni-directional robot using the navigation algorithm by behavior-based control and a new simulation with the aim of orienting the two robots toward each other, In addition, fixed orientation simulations have been performed using this method. Using the robot kinematics to obtain the equations related to the speed and torque of the wheels. in this paper, the robot platform structure has three sets of orthogonal omni wheels that can move in all directions with the ability of displacement without rotation or rotation and displacement simultaneously. the appropriate dynamic equation of the robot has been extracted, then using inverse dynamics of the robot to control the robot’s path. In addition, validate some simulation by presented method with other references. At the end, the results obtained from the simulations are discussed and analyzed. To ensure this method, verification has been done with other authorities.

Keywords

Main Subjects

References

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History

  • Receive Date: 23 June 2021
  • Revise Date: 16 August 2021
  • Accept Date: 03 October 2021

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