抄録
Recently, the robots which work in a hospital and factory have developed. The robot is expected to omnidirectional motion to move in limited space. For Mecanum wheels to be used in the wheels of the omnidirectional mobile robot has a complex structure. It’s depends on the situation of the road surface. Also, the motion control on the assumption of slip control becomes to be difficult with slippery road surface. In this study, the development of the omni-directional mobile robot equipped with Mecanum wheels. And in order to improve the motion of the efficiency, it performs a slip correction and disturbance observer are proposed. Finally the running performance in the actual road surface is verifined.
