Abstract
Recently, the robots which work in a hospital and factory have been developed. The robot is expected to omni-directional motion to move in limited space. Traveling robots had many unsuitable environments. It is difficult for the omni-directional robots to move on the uneven road surface because of slip. Therefore, there is a need for an efficient move for the robot. In this study, we will design of omni-directional mobile robot and perform slip correction using Disturbance Observer. The robots are adopted Mecanum wheels which can travel omni- directional. Propose controller can correct the load on the wheels. The running test on the actual road surface. Finally, we confirmed that robot is traveling on the road surface.
