2A1-K13 Realization of Stable Motion of an Omnidirectional Mobile Robot(Environmentally-Adapted Mechanism and Control)

Abstract

This paper presents a novel method for solving the motion stability problem of our omnidirectional robot, MY Wheel-II. For this robot, some inherent characteristics of the mechanism such as the different contact distances lead to the unstable and inaccurate motion of the robot. In this paper, a stable motion control has been achieved by improving both the wheel mechanism and the control strategy. An absolute encoder has been used to detect the position of wheels during the motion. According to different wheel positions, corresponding control commands are applied to the motors. Experimental results validate the effectiveness of the control scheme and the improved motion stability of the robot.