Kinematics and Control A Three Wheeled Omnidirectional Mobile Robot

International Journal of Electrical and Electronics Engineering

© 2019 by SSRG - IJEEE Journal

Volume 6 Issue 12

Year of Publication : 2019

Authors : Indrazno Siradjuddin, Aang Junaidi, Ratna Ika Putri, Erfan Rohadi, Supriatna Adhisuwignjo

10.14445/23488379/IJEEE-V6I12P101

How to Cite?

Indrazno Siradjuddin, Aang Junaidi, Ratna Ika Putri, Erfan Rohadi, Supriatna Adhisuwignjo, "Kinematics and Control A Three Wheeled Omnidirectional Mobile Robot," SSRG International Journal of Electrical and Electronics Engineering, vol. 6,  no. 12, pp. 1-6, 2019. Crossref, https://doi.org/10.14445/23488379/IJEEE-V6I12P101

Abstract:

A three-wheeled omnidirectional mobile robot is a mobile robot can solve constraint of common design a mobile robot which uses two-wheel drive with differential steering and a free balancing wheel (Non-holonomic). By found kinematic model of a three-wheeled omnidirectional mobile robot, we describe inverse kinematics and inverse jacobian matrix to control and the simulated motion of a mobile robot for optimizing mobility and maneuvers ability of a mobile robot . It has a past advantage over a conventional design (non-holonomic) in term of mobility and maneuvering in a congested environment. In this paper, we are presentinganalysis and simulated kinematic model a three-wheeled omnidirectional mobile robot, velocities of coordinates, and trajectory from initial pose to the desired pose. The simulation of the trajectory robot is used to describe the ability of a system to move instantaneously in any direction from any configuration. Modeling mobile robot with three wheels Omni-directional describe optimizing motion capability in differential geometric point of view. This research is will be developing for visual servoing law method research in robotic field.

Keywords:

Omnidirectional, Mobile robot, Kinematic, Mobility, Constraint.

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