Control of Omni-Directional Mobile Robot Motion
This paper presents the motion programming and control of omni-directional mobile robot through the process of building and programming a small robotic platform with secondary design criteria of modularity and simplified control. This is accomplished by combining the positive aspects of several diff...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Al-Khwarizmi College of Engineering – University of Baghdad
2010-12-01
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| Series: | Al-Khawarizmi Engineering Journal |
| Online Access: | http://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/507 |
| _version_ | 1819242587474624512 |
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| author | A. Salam Al-Ammri Iman Ahmed |
| author_facet | A. Salam Al-Ammri Iman Ahmed |
| author_sort | A. Salam Al-Ammri |
| collection | DOAJ |
| description | This paper presents the motion programming and control of omni-directional mobile robot through the process of building and programming a small robotic platform with secondary design criteria of modularity and simplified control. This is accomplished by combining the positive aspects of several different robotics platform ideas. The platform is shaped like an equilateral triangle with a servo motor, sensors, and omni-wheel, controlled by a PIC microcontroller.
In this work the kinematics, inverse kinematics and dynamic module for the platform is derived. Two search algorithms (the wall-following search and the “most-open-area” search) is designed, tested, and analyzed experimentally. |
| first_indexed | 2024-12-23T14:42:10Z |
| format | Article |
| id | doaj.art-6bd6306d9b5047b4a1b1a703514e514b |
| institution | Directory Open Access Journal |
| issn | 1818-1171 2312-0789 |
| language | English |
| last_indexed | 2024-12-23T14:42:10Z |
| publishDate | 2010-12-01 |
| publisher | Al-Khwarizmi College of Engineering – University of Baghdad |
| record_format | Article |
| series | Al-Khawarizmi Engineering Journal |
| spelling | doaj.art-6bd6306d9b5047b4a1b1a703514e514b2022-12-21T17:43:10ZengAl-Khwarizmi College of Engineering – University of BaghdadAl-Khawarizmi Engineering Journal1818-11712312-07892010-12-0164Control of Omni-Directional Mobile Robot MotionA. Salam Al-Ammri0Iman Ahmed1Department of Mechatronics Engineering/ Al-Khawarizmi College of Engineering/ University of BaghdadDepartment of Mechatronics Engineering/ Al-Khawarizmi College of Engineering/ University of BaghdadThis paper presents the motion programming and control of omni-directional mobile robot through the process of building and programming a small robotic platform with secondary design criteria of modularity and simplified control. This is accomplished by combining the positive aspects of several different robotics platform ideas. The platform is shaped like an equilateral triangle with a servo motor, sensors, and omni-wheel, controlled by a PIC microcontroller. In this work the kinematics, inverse kinematics and dynamic module for the platform is derived. Two search algorithms (the wall-following search and the “most-open-area” search) is designed, tested, and analyzed experimentally.http://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/507 |
| spellingShingle | A. Salam Al-Ammri Iman Ahmed Control of Omni-Directional Mobile Robot Motion Al-Khawarizmi Engineering Journal |
| title | Control of Omni-Directional Mobile Robot Motion |
| title_full | Control of Omni-Directional Mobile Robot Motion |
| title_fullStr | Control of Omni-Directional Mobile Robot Motion |
| title_full_unstemmed | Control of Omni-Directional Mobile Robot Motion |
| title_short | Control of Omni-Directional Mobile Robot Motion |
| title_sort | control of omni directional mobile robot motion |
| url | http://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/507 |
| work_keys_str_mv | AT asalamalammri controlofomnidirectionalmobilerobotmotion AT imanahmed controlofomnidirectionalmobilerobotmotion |