Control of Omni-Directional Mobile Robot Motion

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 dif...

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Autores principales:	A. Salam Al-Ammri, Iman Ahmed
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2010
Materias:	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/6bd6306d9b5047b4a1b1a703514e514b
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spelling	oai:doaj.org-article:6bd6306d9b5047b4a1b1a703514e514b2021-12-02T01:31:15ZControl of Omni-Directional Mobile Robot Motion1818-11712312-0789https://doaj.org/article/6bd6306d9b5047b4a1b1a703514e514b2010-12-01T00:00:00Zhttp://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/507https://doaj.org/toc/1818-1171https://doaj.org/toc/2312-0789 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. A. Salam Al-AmmriIman AhmedAl-Khwarizmi College of Engineering – University of BaghdadarticleChemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 6, Iss 4 (2010)
institution	DOAJ
collection	DOAJ
language	EN
topic	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 A. Salam Al-Ammri Iman Ahmed Control of Omni-Directional Mobile Robot Motion
description	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.
format	article
author	A. Salam Al-Ammri Iman Ahmed
author_facet	A. Salam Al-Ammri Iman Ahmed
author_sort	A. Salam Al-Ammri
title	Control of Omni-Directional Mobile Robot Motion
title_short	Control of Omni-Directional Mobile Robot Motion
title_full	Control of Omni-Directional Mobile Robot Motion
title_fullStr	Control of Omni-Directional Mobile Robot Motion
title_full_unstemmed	Control of Omni-Directional Mobile Robot Motion
title_sort	control of omni-directional mobile robot motion
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2010
url	https://doaj.org/article/6bd6306d9b5047b4a1b1a703514e514b
work_keys_str_mv	AT asalamalammri controlofomnidirectionalmobilerobotmotion AT imanahmed controlofomnidirectionalmobilerobotmotion
_version_	1718403021567688704

Control of Omni-Directional Mobile Robot Motion

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