Upgrade of the Drives Control for Omnidirectional Mobile Robot Odin

Abstract:

This article describes the process of the development of trajectory accuracy testing and the course of modifications of an omnidirectional mobile robot Odin. It also chronologically presents connections between individual phases of developing its construction, electrical wiring, and control software. The first implemented prototype has presented a simple construction and drive control. This laid basis for designing the omnidirectional mobile robot Odin with an installed modular manipulator Schunk. Modifications in the drive control led to better results in the tests. In conclusion, the article describes and compares the acquired test results for various modes of chassis control.

• Periodical: Applied Mechanics and Materials (Volume 816)
• Pages: 282-287
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.816.282
• Online since: November 2015
• Authors: Václav Krys*, Matěj Gala, Tomáš Kot, Vladimír Mostýn
• Keywords: Accuracy, Drives, Mecanum Wheel, Mobile Robot, Omnidirectional Wheel, Trajectory

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