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 diff...

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Autores principales:	Iman Ahmed, A. Salam Al-Ammri
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2010
Materias:	Omni-directional mobile robot. Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/d0ed9f5fb11b464caca51cae826f287b
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id	oai:doaj.org-article:d0ed9f5fb11b464caca51cae826f287b
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spelling	oai:doaj.org-article:d0ed9f5fb11b464caca51cae826f287b2021-12-02T04:55:13ZControl of Omni-Directional Mobile Robot Motion1818-1171https://doaj.org/article/d0ed9f5fb11b464caca51cae826f287b2010-01-01T00:00:00Zhttp://www.iasj.net/iasj?func=fulltext&aId=2195https://doaj.org/toc/1818-1171This 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. <br />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<br />Iman AhmedA. Salam Al-AmmriAl-Khwarizmi College of Engineering – University of BaghdadarticleOmni-directional mobile robot.Chemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 6, Iss 4, Pp 1-9 (2010)
institution	DOAJ
collection	DOAJ
language	EN
topic	Omni-directional mobile robot. Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Omni-directional mobile robot. Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Iman Ahmed A. Salam Al-Ammri 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. <br />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<br />
format	article
author	Iman Ahmed A. Salam Al-Ammri
author_facet	Iman Ahmed A. Salam Al-Ammri
author_sort	Iman Ahmed
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/d0ed9f5fb11b464caca51cae826f287b
work_keys_str_mv	AT imanahmed controlofomnidirectionalmobilerobotmotion AT asalamalammri controlofomnidirectionalmobilerobotmotion
_version_	1718401035415846912

Control of Omni-Directional Mobile Robot Motion

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